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arXiv · 2103.04510

ColoRadar: The Direct 3D Millimeter Wave Radar Dataset

Andrew Kramer·Kyle Harlow·Christopher Williams·Christoffer Heckman
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Abstract

Millimeter wave radar is becoming increasingly popular as a sensing modality for robotic mapping and state estimation. However, there are very few publicly available datasets that include dense, high-resolution millimeter wave radar scans and there are none focused on 3D odometry and mapping. In this paper we present a solution to that problem. The ColoRadar dataset includes 3 different forms of dense, high-resolution radar data from 2 FMCW radar sensors as well as 3D lidar, IMU, and highly accurate groundtruth for the sensor rig's pose over approximately 2 hours of data collection in highly diverse 3D environments.

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Andrew Kramer, Kyle Harlow, Christopher Williams, Christoffer Heckman. 2021-03-08. ColoRadar: The Direct 3D Millimeter Wave Radar Dataset. https://arxiv.org/abs/2103.04510

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