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.
@article{arxiv.2103.04510,
title = {ColoRadar: The Direct 3D Millimeter Wave Radar Dataset},
author = {Andrew Kramer and Kyle Harlow and Christopher Williams and Christoffer Heckman},
journal= {arXiv preprint arXiv:2103.04510},
year = {2021}
}
Comments
8 pages, 7 figures, 3863 words, also submitted to IJRR