ColoRadar Dataset


We present the Colorado mm-Wave Radar (ColoRadar) dataset. It consists of 52 sequences, recorded in mines, built environments, and in an urban creek path, totaling more than 145 minutes of 3D FMCW radar, 3D lidar, and IMU data. The full dataset, including sensor data, calibration sequences, and evaluation scripts can be downloaded here.

For an explanation video of this dataset, please click the linked image below:

ColoRadar dataset

Downloads

We have organized our dataset using the Automous Systems Lab (ASL) dataset format, though our dataset additionally provides files for the photometric camera calibration and light calibration. Each sequence is available at full-resolution and separated into its own tarball.

sequence name length (seconds) kitti link rosbag link comment
12_21_2020_ec_hallways_run0 104 link   Indoor built environment
12_21_2020_ec_hallways_run1 179 link   Indoor built environment
12_21_2020_ec_hallways_run2 284 link   Indoor built environment
12_21_2020_ec_hallways_run3 250 link   Indoor built environment
12_21_2020_ec_hallways_run4 90 link   Indoor built environment
12_21_2020_arpg_lab_run0 120 link   Indoor built environment
12_21_2020_arpg_lab_run1 118 link   Indoor built environment
12_21_2020_arpg_lab_run2 101 link   Indoor built environment
12_21_2020_arpg_lab_run3 143 link   Indoor built environment
12_21_2020_arpg_lab_run4 142 link   Indoor built environment
2_28_2021_outdoors_run0 110 link   Outdoor built environment
2_28_2021_outdoors_run1 122 link   Outdoor built environment
2_28_2021_outdoors_run2 131 link   Outdoor built environment
2_28_2021_outdoors_run3 133 link   Outdoor built environment
2_28_2021_outdoors_run4 109 link   Outdoor built environment
2_28_2021_outdoors_run5 124 link   Outdoor built environment
2_28_2021_outdoors_run6 110 link   Outdoor built environment
2_28_2021_outdoors_run7 109 link   Outdoor built environment
2_28_2021_outdoors_run8 103 link   Outdoor built environment
2_28_2021_outdoors_run9 121 link   Outdoor built environment
2_24_2021_aspen_run0 87 link   Large motion capture space
2_24_2021_aspen_run1 91 link   Large motion capture space
2_24_2021_aspen_run2 108 link   Large motion capture space
2_24_2021_aspen_run3 125 link   Large motion capture space
2_24_2021_aspen_run4 85 link   Large motion capture space
2_24_2021_aspen_run5 91 link   Large motion capture space
2_24_2021_aspen_run6 116 link   Large motion capture space
2_24_2021_aspen_run7 107 link   Large motion capture space
2_24_2021_aspen_run8 103 link   Large motion capture space
2_24_2021_aspen_run9 83 link   Large motion capture space
2_24_2021_aspen_run10 152 link   Large motion capture space
2_24_2021_aspen_run11 126 link   Large motion capture space
2_23_2021_edgar_classroom_run0 187 link   Narrow subterranean environment
2_23_2021_edgar_classroom_run1 171 link   Narrow subterranean environment
2_23_2021_edgar_classroom_run2 197 link   Narrow subterranean environment
2_23_2021_edgar_classroom_run3 276 link   Narrow subterranean environment
2_23_2021_edgar_classroom_run4 163 link   Narrow subterranean environment
2_23_2021_edgar_classroom_run5 166 link   Narrow subterranean environment
2_23_2021_edgar_army_run0 478 link   Large subterranean environment
2_23_2021_edgar_army_run1 236 link   Large subterranean environment
2_23_2021_edgar_army_run2 144 link   Large subterranean environment
2_23_2021_edgar_army_run3 245 link   Large subterranean environment
2_23_2021_edgar_army_run4 303 link   Large subterranean environment
2_23_2021_edgar_army_run5 114 link   Large subterranean environment
2_22_2021_longboard_run0 207 link   High-speed multi-use paths and roads
2_22_2021_longboard_run1 177 link   High-speed multi-use paths and roads
2_22_2021_longboard_run2 271 link   High-speed multi-use paths and roads
2_22_2021_longboard_run3 331 link   High-speed multi-use paths and roads
2_22_2021_longboard_run4 198 link   High-speed multi-use paths and roads
2_22_2021_longboard_run5 239 link   High-speed multi-use paths and roads
2_22_2021_longboard_run6 228 link   High-speed multi-use paths and roads
2_22_2021_longboard_run7 262 link   High-speed multi-use paths and roads
calib   link   calibration and config parameters
development tools   link   Example Python and MATLAB scripts

Sensor Rig

Photo of sensor rig

The sensor rig contains the following components:

  • Cascaded Imaging Radar Sensor: Texas Instruments MMWCAS-RF-EVM
  • Single Chip Radar Sensor: Texas Instruments AWR1843BOOST-EVM paired with a DCA1000-EVM for raw data capture
  • Lidar Sensor: Ouster OS1; 10Hz; 64 beams; 1-degree angular accuracy; angular resolution 0.35-degree horizontal, 0.7-degree vertical; 3cm range accuracy; field of view 360-degree horizontal, 45-degree vertical; max range 120m; 65,536 points per scan
  • IMU: Lord Microstrain 3DM-GX5-25; 300Hz

Evaluation

To be included.

Calibration

We additionally include a decluttering calibration dataset, so that radar calibration models may be inferred.

CITATION

To be included.