ColoRadar: The Direct 3D Millimeter Wave Radar Dataset

TL;DR

ColoRadar introduces a comprehensive 3D millimeter wave radar dataset with high-resolution scans, lidar, IMU, and groundtruth, enabling advancements in robotic mapping and odometry research.

Contribution

This paper provides the first publicly available dense 3D millimeter wave radar dataset with multimodal sensor data and precise groundtruth for diverse environments.

Findings

Enables new research in 3D radar-based odometry and mapping.

Provides high-resolution radar data alongside lidar and IMU.

Supports development of robust perception algorithms.

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.