The dataset is collected over large-scale indoor areas, featuring:

• A comprehensive multi-sensor suite:
  • Non-repetitive lidar
  • RGB Camera
  • Depth Camera
  • High quality IMUs
• Multiple Robot Types

  

• High resolution large scale survey-grade prior maps

  

• Visualization of INS dataset.

If you have some inquiry, please raise an issue on github.

This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License and is intended for non-commercial academic use.

We would like to thank our group’s previous work, "Robust Loop Closure by Textual Cues in Challenging Environments", for the support on the INS dataset. We gratefully acknowledge Thien-Minh Nguyen, Xinhang Xu, Yizhuo Yang, Jianping Li for their contributions.

15/11/2024: Preliminary release.

20/6/2025: Fully release.