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The Oxford Radar RobotCar Dataset: A Radar Extension to the Oxford RobotCar Dataset

arXiv 1909.01300 ↗First posted 3 Sep 2019cs.RO eess.SPcited by 134

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Abstract (arXiv)

In this paper we present The Oxford Radar RobotCar Dataset, a new dataset for researching scene understanding using Millimetre-Wave FMCW scanning radar data. The target application is autonomous vehicles where this modality is robust to environmental conditions such as fog, rain, snow, or lens flare, which typically challenge other sensor modalities such as vision and LIDAR. The data were gathered in January 2019 over thirty-two traversals of a central Oxford route spanning a total of 280km of urban driving. It encompasses a variety of weather, traffic, and lighting conditions. This 4.7TB dataset consists of over 240,000 scans from a Navtech CTS350-X radar and 2.4 million scans from two Velodyne HDL-32E 3D LIDARs; along with six cameras, two 2D LIDARs, and a GPS/INS receiver. In addition we release ground truth optimised radar odometry to provide an additional impetus to research in this domain. The full dataset is available for download at: ori.ox.ac.uk/datasets/radar-robotcar-dataset

Key facts. Cited by 134 papers in the map (data through 14 Oct 2026). First posted on arXiv 3 Sep 2019.

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Citing papers per year: 2020: 1; 2021: 22; 2022: 17; 2023: 30; 2024: 22; 2025: 22; 2026: 20.

134 papers.

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  1. 2022TJ4DRadSet: A 4D Radar Dataset for Autonomous Drivingcited by 75
  2. 2021Raw High-Definition Radar for Multi-Task Learningcited by 69
  3. 20223D Object Detection from Images for Autonomous Driving: A Surveycited by 66
  4. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 66
  5. 2021RadarScenes: A Real-World Radar Point Cloud Data Set for Automotive Applicationscited by 61
  6. 2021Radar-Camera Pixel Depth Association for Depth Completioncited by 50
  7. 2021RODNet: A Real-Time Radar Object Detection Network Cross-Supervised by Camera-Radar Fused Object 3D Localizationcited by 49
  8. 2021Multi-View Radar Semantic Segmentationcited by 34
  9. 2023AutoFed: Heterogeneity-Aware Federated Multimodal Learning for Robust Autonomous Drivingcited by 32
  10. 2024MUSES: The Multi-Sensor Semantic Perception Dataset for Driving under Uncertaintycited by 32
  11. 2022RING++: Roto-translation Invariant Gram for Global Localization on a Sparse Scan Mapcited by 29
  12. 2023Bi-LRFusion: Bi-Directional LiDAR-Radar Fusion for 3D Dynamic Object Detectioncited by 28
38 more
  1. 2021MODS -- A USV-oriented object detection and obstacle segmentation benchmarkcited by 27
  2. 2024BEVCar: Camera-Radar Fusion for BEV Map and Object Segmentationcited by 27
  3. 2021BVMatch: Lidar-based Place Recognition Using Bird's-eye View Imagescited by 25
  4. 2023HypLiLoc: Towards Effective LiDAR Pose Regression with Hyperbolic Fusioncited by 24
  5. 2023Survey on LiDAR Perception in Adverse Weather Conditionscited by 24
  6. 2023RadarGNN: Transformation Invariant Graph Neural Network for Radar-based Perceptioncited by 24
  7. 2021Rethinking of Radar's Role: A Camera-Radar Dataset and Systematic Annotator via Coordinate Alignmentcited by 23
  8. 2022RaLiBEV: Radar and LiDAR BEV Fusion Learning for Anchor Box Free Object Detection Systemscited by 23
  9. 2024General Place Recognition Survey: Towards Real-World Autonomycited by 23
  10. 2022Exploiting Temporal Relations on Radar Perception for Autonomous Drivingcited by 22
  11. 2023Exploring Radar Data Representations in Autonomous Driving: A Comprehensive Reviewcited by 22
  12. 2023MVFAN: Multi-View Feature Assisted Network for 4D Radar Object Detectioncited by 20
  13. 2024Radar Fields: Frequency-Space Neural Scene Representations for FMCW Radarcited by 18
  14. 2021Full-Velocity Radar Returns by Radar-Camera Fusioncited by 16
  15. 2023Fast and Accurate Deep Loop Closing and Relocalization for Reliable LiDAR SLAMcited by 15
  16. 2025RadarSplat: Radar Gaussian Splatting for High-Fidelity Data Synthesis and 3D Reconstruction of Autonomous Driving Scenescited by 15
  17. 2021Line as a Visual Sentence: Context-aware Line Descriptor for Visual Localizationcited by 14
  18. 2023ADCNet: Learning from Raw Radar Data via Distillationcited by 14
  19. 2024RadSimReal: Bridging the Gap Between Synthetic and Real Data in Radar Object Detection With Simulationcited by 14
  20. 2021Place recognition survey: An update on deep learning approachescited by 13
  21. 2022Ad-datasets: a meta-collection of data sets for autonomous drivingcited by 11
  22. 2022RadSegNet: A Reliable Approach to Radar Camera Fusioncited by 11
  23. 2024LiRaFusion: Deep Adaptive LiDAR-Radar Fusion for 3D Object Detectioncited by 11
  24. 2024Enabling Visual Recognition at Radio Frequencycited by 11
  25. 2022Continuous Self-Localization on Aerial Images Using Visual and Lidar Sensorscited by 10
  26. 2023Radars for Autonomous Driving: A Review of Deep Learning Methods and Challengescited by 10
  27. 2024MMVR: Millimeter-wave Multi-View Radar Dataset and Benchmark for Indoor Perceptioncited by 10
  28. 2025LightLoc: Learning Outdoor LiDAR Localization at Light Speedcited by 10
  29. 2021Greedy-Based Feature Selection for Efficient LiDAR SLAMcited by 9
  30. 2022CGiS-Net: Aggregating Colour, Geometry and Implicit Semantic Features for Indoor Place Recognitioncited by 9
  31. 2023TransRadar: Adaptive-Directional Transformer for Real-Time Multi-View Radar Semantic Segmentationcited by 9
  32. 2023Bootstrapping Autonomous Driving Radars with Self-Supervised Learningcited by 9
  33. 2024Radar and Camera Fusion for Object Detection and Tracking: A Comprehensive Surveycited by 9
  34. 2020Imitation Learning of Hierarchical Driving Model: from Continuous Intention to Continuous Trajectorycited by 8
  35. 2021Radar-to-Lidar: Heterogeneous Place Recognition via Joint Learningcited by 8
  36. 2023Reviewing 3D Object Detectors in the Context of High-Resolution 3+1D Radarcited by 8
  37. 2022Semantic Visual Simultaneous Localization and Mapping: A Surveycited by 7
  38. 2024Unifying Local and Global Multimodal Features for Place Recognition in Aliased and Low-Texture Environmentscited by 7

50 most cited of 134 All 134 (JSON)