This dataset contains the necessary data for the development of perception tools to fuse the information from the sensors on the crawler robot and the sensors on the aerial robots. It contains two Rosbag files that provide different measurements from an 3D Velodyne LIDAR, two visual sensors, an altimeter and an IMU, all mounted in an aerial vehicle. It is also given the position estimation of the crawler. The ground-truth localization of the robot is given by a RTK GPS with accuracy of < 2cm. The transformations between sensor frames are also given in the bags. The flight experiments were conducted in the Karting AEROARMS outdoors scenario near Seville, during September 2018.