ColoRadar: The Direct 3D Millimeter Wave Radar Dataset
This dataset addresses a gap for researchers in robotics and autonomous systems, but it is incremental as it primarily provides new data rather than a novel method.
The authors tackled the lack of publicly available dense, high-resolution 3D millimeter wave radar datasets for robotic odometry and mapping by introducing the ColoRadar dataset, which includes approximately 2 hours of data from diverse 3D environments with multiple sensor types and accurate ground truth.
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.