UAV
INSANE
Multi-sensor fusion for outdoor-to-indoor transitions and Mars analog environments
Quadcopter dataset covering indoor, outdoor, outdoor-to-indoor transition, and Mars analog scenarios.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- UAV
- Environment
- Indoor, Outdoor
- Data origin
- Real-world
- Sensor count
- 17
- Ground truth
- Available
- Calibration
- Full Raw Calibration Data
- Annotations
- Not reported
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
| Scope | Method | Reference system | Count | Rate | Coverage |
Reference provenance
|
|---|---|---|---|---|---|---|
| Other | GNSS / INS | Not reported | Not reported | Not reported | Unknown |
Reference provenance
Hybrid
Accuracy and notes
|
| 6DoF | Motion capture | OptiTrack | 37 cameras | 300 Hz | Partial · Motion Capture Volume |
Reference provenance
External
Accuracy and notes
|
| 6DoF | Surveyed markers | Transition ground-truth marker network · ArUco | 125 markers | 20 Hz | Partial · Transition Area |
Reference provenance
Hybrid
Accuracy and notes
|
Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Full Raw Calibration Data
- Processed parameters
- Available
- Raw calibration data
- Available
- Calibration targets
- Not reported
Reproducible calibration data
Raw calibration data is reported, so users can reproduce or inspect the calibration process.
Notes
Precomputed inter-sensor calibration files and raw calibration recordings are provided, including static IMU data, magnetometer intrinsic/extrinsic data, laser-range-finder-to-IMU data, navigation-camera and stereo-camera intrinsic/extrinsic sequences, and vibration recordings.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
The Pixhawk BMI055 was disabled and is not an available dataset stream; the active BMI055 belongs to the RealSense T265.
Sensors are software synchronized rather than hardware synchronized, with additional post-processing alignment required for ground-truth generation.
Motor-speed ground truth was validated with a Wachendorff PT99 pulse tachometer, but the tachometer is validation hardware rather than a generally available dataset stream.
Cameras
mono-gray
- Model
- IDS UI-3270LE-M-GL
- Setup
- Mono
- Count
- 1
- Effective cameras
- 1
- Modality
- Grayscale
- Resolution
- 2056 x 1542
- Rate
- 20 Hz
- Shutter
- Global
- Lens type
- Not Reported
- HFOV
- 101 deg
- VFOV
- Not reported
- Notes
- Uses a BM4018S118 C lens with f/1.8 aperture and a source-reported 126-degree diagonal field of view.
stereo-gray
- Model
- RealSense T265
- Setup
- Stereo
- Count
- 1
- Effective cameras
- 2
- Modality
- Grayscale
- Resolution
- 848 x 800
- Rate
- 30 Hz
- Shutter
- Global
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
IMUs
Holybro Pixhawk v5 IMU
- Model
- ICM20689
- Count
- 1
- Accel / gyro
- 200 / 200 Hz
RealSense T265 IMU
- Model
- BMI055
- Count
- 1
- Accel / gyro
- 200 / 200 Hz
LSM9DS1
- Model
- LSM9DS1
- Count
- 1
- Accel / gyro
- 900 / 900 Hz
GNSS
UBLOX C94-M8P
- Model or name
- UBLOX C94-M8P
- Count
- 2
- Rate
- 8 Hz
- GNSS type
- RTK
- Position output
- Available
- Velocity output
- Available
- Heading output
- Not reported
Pixhawk GNSS
- Model or name
- Pixhawk GNSS
- Count
- 1
- Rate
- 5 Hz
- GNSS type
- NOT REPORTED
- Position output
- Available
- Velocity output
- Available
- Heading output
- Not reported
LiDAR
Garmin Lidar Lite v3
- Model or name
- Garmin Lidar Lite v3
- Count
- 1
- Dimensions
- 1
- Rate
- 30 Hz
- Channels
- 1
- Range
- 40 m
Additional sensors
Barometer
- Name
- MS5611
- Count
- 1
- Rate
- 20 Hz
Magnetometer
- Name
- LSM9DS1
- Count
- 1
- Rate
- 20 Hz
Magnetometer
- Name
- UST8310
- Count
- 1
- Rate
- 80 Hz
UWB
- Model
- Decawave TREK1000
- Name
- UWB anchors
- Count
- 3
- Coverage
- indoor, transition
- Rate
- 7 Hz
Odometry
- Name
- RealSense T265 V-SLAM
- Count
- 1
- Rate
- 200 Hz
Other sensor
- Name
- Motor speed setpoint
- Count
- 1
- Coverage
- selected data parts
- Rate
- 100 Hz
Annotations
Reported annotation availability and task support.
- Availability
- Not reported
- Format
- Not reported
- Class count
- Not reported
Semantic segmentation
Not reported
Instance segmentation
Not reported
Object detection
Not reported
Optical flow
Not reported
Depth ground truth
Not reported
Citation
Citation key and BibTeX kept at the end of the page for reference.
@article{Brommer2024,
title = {The INSANE dataset: Large number of sensors for challenging UAV flights in Mars analog, outdoor, and out-/indoor transition scenarios},
volume = {43},
ISSN = {1741-3176},
url = {http://dx.doi.org/10.1177/02783649241227245},
DOI = {10.1177/02783649241227245},
number = {8},
journal = {The International Journal of Robotics Research},
publisher = {SAGE Publications},
author = {Brommer, Christian and Fornasier, Alessandro and Scheiber, Martin and Delaune, Jeff and Brockers, Roland and Steinbrener, Jan and Weiss, Stephan},
year = {2024},
month = Feb,
pages = {1083–1113}
}Dataset corrections
Notice a specific issue after reviewing the page?
Report an inaccuracy