RESEARCH GROUP
CONTROL OF NETWORKED SYSTEMS

INSANE Dataset - Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and Novel Estimators

Dataset Details

Dataset Tools [Github]

Flight Data Sets

Supplementary Data

Dataset Details

Publication and Citation

Publication

Citation:

Christian Brommer, Alessandro Fornasier, Martin Scheiber, Jeff Delaune, Roland Brockers, Jan Steinbrener, and Stephan Weiss. “INSANE: Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and Novel Estimators.” arXiv, Oct. 17, 2022. doi: 10.48550/arXiv.2210.09114.

BibTex format

License

The data set is made available to the public, licensed under the terms of the BSD-2-Clause-License with no commercial use allowed, the full terms of which are made available in the LICENSE file. No license in patents is granted.

Flight Data Sets

Indoor – Motion Capture Environment

Dataset	Description	Aspects	Downloads
indoor_1	Ascending square pattern	– Distance: 60m – max. Height: 7m – max. Vel.: 1m/s – Calibration: KLU1	Sensor Data Navigation Camera Stereo Camera
indoor_2	Upward spiral	– Distance: 25m – max. Height: 5m – max. Vel.: 0.3m/s – Calibration: KLU1	Sensor Data Navigation Camera Stereo Camera
indoor_3	Pick and place (with UWB)	– Distance: 42m – max. Height: 3m – max. Vel.: 1m/s – Calibration: KLU1	Sensor Data Navigation Camera Stereo Camera

Outdoor to Indoor Transitions

Dataset	Description	Aspects	Downloads
transition_1	Const. vel. along sector 2, to sector 4 (with UWB)	– Distance: 80m – max. Height: 20m – max. Vel.: 2m/s – Calibration: KLU2	Sensor Data Navigation Camera Stereo Camera
transition_2	Square in sector 1, sector 2, to sector 4 (with UWB)	– Distance: 25m – max. Height: 5m – max. Vel.: 0.3m/s – Calibration: KLU2	Sensor Data Navigation Camera Stereo Camera
transition_3	Square in sector 1, to sector 4 (with UWB)	– Distance: 180m – max. Height: 32m – max. Vel.: 2.5m/s – Calibration: KLU2	Sensor Data Navigation Camera Stereo Camera

Outdoor – Open Field

Dataset	Description	Aspects	Downloads
outdoor_1	Square pattern	– Distance: 260m – max. Height: 25m – max. Vel.: 6m/s – Calibration: KLU1	Sensor Data Navigation Camera Stereo Camera

Mars Analog Data

Dataset	Description	Aspects	Downloads
mars_1	Circular pattern	– Distance: 65m – max. Height: 6m – max. Vel.: 2.3m/s – Calibration: MA	Sensor Data Navigation Camera
mars_2	Circular pattern	– Distance: 98m – max. Height: 19m – max. Vel.: 3.5m/s – Calibration: MA	Sensor Data Navigation Camera
mars_3	Circular pattern	– Distance: 190m – max. Height: 20m – max. Vel.: 5m/s – Calibration: MA	Sensor Data Navigation Camera
mars_4	Traverse back and forth	– Distance: 145m – max. Height: 25m – max. Vel.: 4.5m/s – Calibration: MA	Sensor Data Navigation Camera Stereo Camera
mars_5	Traverse back and forth	– Distance: 27m – max. Height: 9m – max. Vel.: 2m/s – Calibration: MA	Sensor Data Navigation Camera Stereo Camera
mars_6	Traverse back and forth	– Distance: 48m – max. Height: 13m – max. Vel.: 2m/s – Calibration: MA	Sensor Data Stereo Camera
mars_7	Traverse back and forth	– Distance: 48m – max. Height: 13m – max. Vel.: 3m/s – Calibration: MA	Sensor Data Navigation Camera
mars_8	Cliff dive	– Distance: 80m – max. Height: 10m – max. Vel.: 4m/s – Calibration: MA	Sensor Data Navigation Camera Stereo Camera
mars_9	Short distance square	– Distance: 70m – max. Height: 15m – max. Vel.: 4m/s – Calibration: MA	Sensor Data Navigation Camera Stereo Camera
mars_10	Short distance square	– Distance: 79m – max. Height: 22m – max. Vel.: 4.5m/s – Calibration: MA	Sensor Data Navigation Camera Stereo Camera
mars_11	Long distance way-point following	– Distance: 158m – max. Height: 40m – max. Vel.: 6m/s – Calibration: MA	Sensor Data Navigation Camera Stereo Camera
mars_12	Cliff dive	– Distance: 127m – max. Height: 23m – max. Vel.: 5.5m/s – Calibration: MA	Sensor Data Navigation Camera Stereo Camera
mars_13	Cliff dive	– Distance: 60m – max. Height: 12m – max. Vel.: 2m/s – Calibration: MA	Sensor Data Navigation Camera Stereo Camera
mars_14	Long traverse back and forth over canyon	– Distance: 226m – max. Height: 22m – max. Vel.: 5.3m/s – Calibration: MA	Sensor Data Navigation Camera Stereo Camera
mars_15	Science close-up	– Distance: 90m – max. Height: 6m – max. Vel.: 2.5m/s – Calibration: MA	Sensor Data Navigation Camera Stereo Camera
mars_16	Take off and land at different locations	– Distance: 50m – max. Height: 15m – max. Vel.: 4.5m/s – Calibration: MA	Sensor Data Navigation Camera Stereo Camera
mars_17	Traverse back and forth	– Distance: 162m – max. Height: 15m – max. Vel.: 5m/s – Calibration: MA	Sensor Data Navigation Camera Stereo Camera
mars_18	Repeating take off, short traverse back and forth and land. (11 times)	– Distance: 56m – max. Height: 3.5m – max. Vel.: 1.5m/s – Calibration: MA	Sensor Data Navigation Camera Stereo Camera
mars_19	Repeating take off, short traverse back and forth and land. (11 times)	– Distance: 113m – max. Height: 3m – max. Vel.: 1.6m/s – Calibration: MA	Sensor Data Navigation Camera Stereo Camera

Supplementary Data

Calibrations

Dataset	Downloads
4 hour static data for Allan variance	Static Sensor Data
Sensor and Camera Calibrations (Preprocessed)	Calibration Data
Navigation-Camera Calibration Data (RAW)	Klagenfurt (KLU1) Klagenfurt (KLU2) Mars Analog (MA)
Stereo-Camera Calibration Data (RAW)	Klagenfurt (KLU1) Klagenfurt (KLU2) Mars Analog (MA)
Magnetometer Calibration Data with IMU (RAW)	Calibration Data

Vibration Analysis

Camera calibration: KLU1

Sensor Data Download

Camera Data Download

Dataset	Nominal RPM Range (0-100%)	RPM (Measured)
v10	10	3560
v20	20	5605
v40	40	9000
v60	60	11800
v80	80	14000
v100	100	15500