This data set contains over 600GB of multimodal data from a Mars analog mission, including accurate 6DoF outdoor ground truth, indoor-outdoor transitions with continuous cross-domain ground truth, and indoor data with Optitrack measurements as ground truth. With 26 flights and a combined distance of 2.5km, this data set provides you with various distinct challenges for testing and proofing your algorithms. The UAV carries 18 sensors, including a high-resolution navigation camera and a stereo camera with an overlapping field of view, two RTK GNSS sensors with centimeter accuracy, as well as three IMUs, placed at strategic locations: Hardware dampened at the center, off-center with a lever arm, and a 1kHz IMU rigidly attached to the UAV (in case you want to work with unfiltered data). The sensors are fully pre-calibrated, and the data set is ready to use. However, if you want to use your own calibration algorithms, then the raw calibration data is also ready for download. The cross-domai
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