  For real-world applications, autonomous mobile robotic platforms must be
capable of navigating safely in a multitude of different and dynamic
environments with accurate and robust localization being a key prerequisite. To
support further research in this domain, we present the INSANE data sets - a
collection of versatile Micro Aerial Vehicle (MAV) data sets for
cross-environment localization. The data sets provide various scenarios with
multiple stages of difficulty for localization methods. These scenarios range
from trajectories in the controlled environment of an indoor motion capture
facility, to experiments where the vehicle performs an outdoor maneuver and
transitions into a building, requiring changes of sensor modalities, up to
purely outdoor flight maneuvers in a challenging Mars analog environment to
simulate scenarios which current and future Mars helicopters would need to
perform. The presented work aims to provide data that reflects real-world
scenarios and sensor effects. The extensive sensor suite includes various
sensor categories, including multiple Inertial Measurement Units (IMUs) and
cameras. Sensor data is made available as raw measurements and each data set
provides highly accurate ground truth, including the outdoor experiments where
a dual Real-Time Kinematic (RTK) Global Navigation Satellite System (GNSS)
setup provides sub-degree and centimeter accuracy (1-sigma). The sensor suite
also includes a dedicated high-rate IMU to capture all the vibration dynamics
of the vehicle during flight to support research on novel machine
learning-based sensor signal enhancement methods for improved localization. The
data sets and post-processing tools are available at:
https://sst.aau.at/cns/datasets
