ColoRadar: The Direct 3D Millimeter Wave Radar Dataset

Autor:	Kramer, Andrew, Harlow, Kyle, Williams, Christopher, Heckman, Christoffer
Rok vydání:	2021
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	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. Comment: 8 pages, 7 figures, 3863 words, also submitted to IJRR
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2103.04510 Zobrazit plný text záznamu View this record from Arxiv