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RESEARCH GROUP
CONTROL OF NETWORKED SYSTEMS

AAU1/...Department of Smart Systems Technologies2/Control of Networked Systems3/Datasets & AI Modules4/INSANE Dataset – Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and...

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

DatasetDescriptionAspectsDownloads
indoor_1Ascending square pattern– Distance: 60m
– max. Height: 7m
– max. Vel.: 1m/s
– Calibration: KLU1
Sensor Data
Navigation Camera
Stereo Camera
indoor_2Upward spiral– Distance: 25m
– max. Height: 5m
– max. Vel.: 0.3m/s
– Calibration: KLU1
Sensor Data
Navigation Camera
Stereo Camera
indoor_3Pick 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

DatasetDescriptionAspectsDownloads
transition_1Const. 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_2Square 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_3Square 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

DatasetDescriptionAspectsDownloads
outdoor_1Square pattern– Distance: 260m
– max. Height: 25m
– max. Vel.: 6m/s
– Calibration: KLU1
Sensor Data
Navigation Camera
Stereo Camera

Mars Analog Data

DatasetDescriptionAspectsDownloads
mars_1Circular pattern– Distance: 65m
– max. Height: 6m
– max. Vel.: 2.3m/s
– Calibration: MA
Sensor Data
Navigation Camera
mars_2Circular pattern– Distance: 98m
– max. Height: 19m
– max. Vel.: 3.5m/s
– Calibration: MA
Sensor Data
Navigation Camera
mars_3Circular pattern– Distance: 190m
– max. Height: 20m
– max. Vel.: 5m/s
– Calibration: MA
Sensor Data
Navigation Camera
mars_4Traverse back and forth– Distance: 145m
– max. Height: 25m
– max. Vel.: 4.5m/s
– Calibration: MA
Sensor Data
Navigation Camera
Stereo Camera
mars_5Traverse back and forth– Distance: 27m
– max. Height: 9m
– max. Vel.: 2m/s
– Calibration: MA
Sensor Data
Navigation Camera
Stereo Camera
mars_6Traverse back and forth– Distance: 48m
– max. Height: 13m
– max. Vel.: 2m/s
– Calibration: MA
Sensor Data
Stereo Camera
mars_7Traverse back and forth– Distance: 48m
– max. Height: 13m
– max. Vel.: 3m/s
– Calibration: MA
Sensor Data
Navigation Camera
mars_8Cliff dive– Distance: 80m
– max. Height: 10m
– max. Vel.: 4m/s
– Calibration: MA
Sensor Data
Navigation Camera
Stereo Camera
mars_9Short distance square– Distance: 70m
– max. Height: 15m
– max. Vel.: 4m/s
– Calibration: MA
Sensor Data
Navigation Camera
Stereo Camera
mars_10Short distance square– Distance: 79m
– max. Height: 22m
– max. Vel.: 4.5m/s
– Calibration: MA
Sensor Data
Navigation Camera
Stereo Camera
mars_11Long distance way-point following– Distance: 158m
– max. Height: 40m
– max. Vel.: 6m/s
– Calibration: MA
Sensor Data
Navigation Camera
Stereo Camera
mars_12Cliff dive– Distance: 127m
– max. Height: 23m
– max. Vel.: 5.5m/s
– Calibration: MA
Sensor Data
Navigation Camera
Stereo Camera
mars_13Cliff dive– Distance: 60m
– max. Height: 12m
– max. Vel.: 2m/s
– Calibration: MA
Sensor Data
Navigation Camera
Stereo Camera
mars_14Long 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_15Science close-up– Distance: 90m
– max. Height: 6m
– max. Vel.: 2.5m/s
– Calibration: MA
Sensor Data
Navigation Camera
Stereo Camera
mars_16Take 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_17Traverse back and forth– Distance: 162m
– max. Height: 15m
– max. Vel.: 5m/s
– Calibration: MA
Sensor Data
Navigation Camera
Stereo Camera
mars_18Repeating 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_19Repeating 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

DatasetDownloads
4 hour static data for Allan varianceStatic 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

DatasetNominal RPM Range (0-100%)RPM (Measured)
v10103560
v20205605
v40409000
v606011800
v808014000
v10010015500
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