What Is Not in the Download

• Per-frame fiducial detections — the per-frame tag-in-camera poses (fiducial_marker.csv, written by extract_data.m from the ROS topic /marker_detections) and tags.csv do not ship; marker poses also survive inside the derived transition_gt_in_{gps,moap}.csv.
  • When the maintainers extract fiducial_marker.csv, it is a dynamic wide CSV with t followed by ex_<id>, p_x_<id>, p_y_<id>, p_z_<id>, q_w_<id>, q_x_<id>, q_y_<id>, q_z_<id> for each detected tag id, with absent-tag fields left at zero on rows where that tag is not present.
  • But the tag field is reconstructable — and this is the load-bearing thing the earlier framing missed: tag_info.yaml (108 transition-field tag ids on 0..107, plus standalone tag 123, with ids 108..122 unused), the exact physical board geometry (fiducial_marker/tag_calibration/gen_tag_board_calib.m — tag layouts for all 8 boards), and the complete marker→trajectory pipeline (tag_calibration/, tag_evaluation/tags_to_trajectory.m, ArUco tag_reading/read_aruco*.m, post_scripts/export_tag_data.py) are all in insane_dataset_tools [1].
  • In that board geometry, the local board frame origin is the bottom-left corner, and the laid-out tags imply a 2.0 m × 0.6 m board rectangle with about 4 cm outer margins around the outermost tag edges.
  • So the maintainers’ transition marker bridge can be regenerated from the raw nav-cam PNGs + this geometry (detected ArUco DICT_7X7_250, the field matches the maintainer design to ~1% / a few mm).
  • The board geometry carries a transcription typo that corrupts a design-rigidified map if used verbatim (Known Defects).
  • The public metadata supports the paper’s 108-field-marker count; the extra standalone tag 123 is outside that transition field.
• No camera↔︎LRF calibration product (no static-wall/IR-indicator recording; no calibration script in the tooling).
• No stitched full-run transition truth lane (Source of Truth).
• No anchor geometry for UWB; no device-model strings beyond LSM9DS1/Decawave.
• No precomputed Kalibr results for klu1/klu2/stereo (only the bags + kalibr.sh); the cam↔︎IMU timeshift ships only in the mars nav-cam raw bundle.
• Physical RPM (Wachendorff PT99) is not in px4_rpm.csv; only the normalized command is.

References

[1]

aau-cns, INSANE Dataset Tools. GitHub. Accessed: Jun. 09, 2026. [Online]. Available: https://github.com/aau-cns/insane_dataset_tools