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This paper provides a multiple sensor dataset collected by the CyborgLOC team during the intermediate competition of the Challenge MALIN (MAîtrise de la localisation INdoor), which is a competition for indoor/outdoor real-time positioning. The sensors, including a GNSS receiver Ublox NEO-M8N, a Realsense D435i stereo camera, three Xsens MTi-300 and one PERSY (PEdestrian Reference SYstem), are mounted on different parts of the subject's body. The PERSY is a foot-mounted positioning device with a tri-axial accelerometer, a tri-axial gyrosco
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