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

Click here to navigate and download files from the ColoRadar dataset.

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 zip file.

Sequence NameLength (seconds)comment
12_21_2020_ec_hallways_run0104Indoor built environment
12_21_2020_ec_hallways_run1179Indoor built environment
12_21_2020_ec_hallways_run2284Indoor built environment
12_21_2020_ec_hallways_run3250Indoor built environment
12_21_2020_ec_hallways_run490Indoor built environment
12_21_2020_arpg_lab_run0120Indoor built environment
12_21_2020_arpg_lab_run1118Indoor built environment
12_21_2020_arpg_lab_run2101Indoor built environment
12_21_2020_arpg_lab_run3143Indoor built environment
12_21_2020_arpg_lab_run4142Indoor built environment
2_28_2021_outdoors_run0110Outdoor built environment
2_28_2021_outdoors_run1122Outdoor built environment
2_28_2021_outdoors_run2131Outdoor built environment
2_28_2021_outdoors_run3133Outdoor built environment
2_28_2021_outdoors_run4109Outdoor built environment
2_28_2021_outdoors_run5124Outdoor built environment
2_28_2021_outdoors_run6110Outdoor built environment
2_28_2021_outdoors_run7109Outdoor built environment
2_28_2021_outdoors_run8103Outdoor built environment
2_28_2021_outdoors_run9121Outdoor built environment
2_24_2021_aspen_run087Large motion capture space
2_24_2021_aspen_run191Large motion capture space
2_24_2021_aspen_run2108Large motion capture space
2_24_2021_aspen_run3125Large motion capture space
2_24_2021_aspen_run485Large motion capture space
2_24_2021_aspen_run591Large motion capture space
2_24_2021_aspen_run6116Large motion capture space
2_24_2021_aspen_run7107Large motion capture space
2_24_2021_aspen_run8103Large motion capture space
2_24_2021_aspen_run983Large motion capture space
2_24_2021_aspen_run10152Large motion capture space
2_24_2021_aspen_run11126Large motion capture space
2_23_2021_edgar_classroom_run0187Narrow subterranean environment
2_23_2021_edgar_classroom_run1171Narrow subterranean environment
2_23_2021_edgar_classroom_run2197Narrow subterranean environment
2_23_2021_edgar_classroom_run3276Narrow subterranean environment
2_23_2021_edgar_classroom_run4163Narrow subterranean environment
2_23_2021_edgar_classroom_run5166Narrow subterranean environment
2_23_2021_edgar_army_run0478Large subterranean environment
2_23_2021_edgar_army_run1236Large subterranean environment
2_23_2021_edgar_army_run2144Large subterranean environment
2_23_2021_edgar_army_run3245Large subterranean environment
2_23_2021_edgar_army_run4303Large subterranean environment
2_23_2021_edgar_army_run5114Large subterranean environment
2_22_2021_longboard_run0207High-speed multi-use paths and roads
2_22_2021_longboard_run1177High-speed multi-use paths and roads
2_22_2021_longboard_run2271High-speed multi-use paths and roads
2_22_2021_longboard_run3331High-speed multi-use paths and roads
2_22_2021_longboard_run4198High-speed multi-use paths and roads
2_22_2021_longboard_run5239High-speed multi-use paths and roads
2_22_2021_longboard_run6228High-speed multi-use paths and roads
2_22_2021_longboard_run7262High-speed multi-use paths and roads
calibCalibration and config parameters
development toolsExample Python and MATLAB scripts
ros msg definitionsROS message definitions for bag files

Sensor Rig

Photo of sensor rig

The sensor rig contains the following components:

Evaluation

To be included.

Calibration

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

License

This dataset is released under the Apache 2.0 license.

CITATION

When citing our work, please use:

Kramer, Andrew, Kyle Harlow, Christopher Williams, and Christoffer Heckman. “ColoRadar: The direct 3D millimeter wave radar dataset.” The International Journal of Robotics Research 41, no. 4 (2022): 351-360.