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.

翻译：千米波雷达作为机器人绘图和国家估计的感测方式越来越受欢迎,然而,很少有公开的数据集包括密度高、分辨率高的波浪雷达扫描,也没有侧重于3D测量和绘图。在本文件中,我们提出了解决这个问题的办法。ColoRadar数据集包括来自2 FMCW雷达传感器以及3D Lidar、IMU的三种不同形式的密度高、分辨率高的雷达数据,以及传感器钻机在高度多样化的3D环境中构成的高度精确的地面真象。