mlsanityData to 7 Oct 2026

ColoRadar: The Direct 3D Millimeter Wave Radar Dataset

arXiv 2103.04510 ↗First posted 8 Mar 2021cs.ROcited by 21

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Abstract (arXiv)

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.

Key facts. Cited by 21 papers in the map (data through 7 Oct 2026). First posted on arXiv 8 Mar 2021.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 5; 2024: 3; 2025: 6; 2026: 7.

21 papers.

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  1. 2023Dual Radar: A Multi-modal Dataset with Dual 4D Radar for Autonomous Drivingcited by 32
  2. 2024RadarOcc: Robust 3D Occupancy Prediction with 4D Imaging Radarcited by 32
  3. 2023Exploring Radar Data Representations in Autonomous Driving: A Comprehensive Reviewcited by 22
  4. 2023NTU4DRadLM: 4D Radar-centric Multi-Modal Dataset for Localization and Mappingcited by 17
  5. 2024Towards Dense and Accurate Radar Perception Via Efficient Cross-Modal Diffusion Modelcited by 17
  6. 2025Towards Foundational Models for Single-Chip Radarcited by 6
  7. 2025MITO: A Millimeter-Wave Dataset and Simulator for Non-Line-of-Sight Perceptioncited by 4
  8. 20254D mmWave Radar for Sensing Enhancement in Adverse Environments: Advances and Challengescited by 4
  9. 2026RadarSim: Simulating Single-Chip Radar via Multimodal Neural Fieldscited by 2
  10. 2023Multimodal Dataset from Harsh Sub-Terranean Environment with Aerosol Particles for Frontier Explorationcited by 1
  11. 2025RaLD: Generating High-Resolution 3D Radar Point Clouds with Latent Diffusioncited by 1
  12. 2026RadarSplat-RIO: Indoor Radar-Inertial Odometry with Gaussian Splatting-Based Radar Bundle Adjustmentcited by 1
9 more
  1. 2026Weather-Robust Scene Semantics with Vision-Aligned 4D Radarcited by 1
  2. 2026mmIR: Frequency-Space Inverse Rendering for 3D Millimeter-Wave Radar ADC Synthesiscited by 1
  3. 2026Rad-R: A Raw-ADC Radar Dataset and Capture-Invariant SSM for Hardware-Fault Diagnosiscited by 1
  4. 2023Performance Analysis of Fixed Broadband Wireless Access in mmWave Band in 5Gcited by 0
  5. 2024Cross-modal semantic segmentation for indoor environmental perception using single-chip millimeter-wave radar raw datacited by 0
  6. 2025Uncertainty-Driven Radar-Inertial Fusion for Instantaneous 3D Ego-Velocity Estimationcited by 0
  7. 2025Epistemic Memory: A Validity Layer for Self-Maintaining Intelligent Systemscited by 0
  8. 2026RaUF: Learning the Spatial Uncertainty Field of Radarcited by 0
  9. 20263D Point Splatting for mmWave Radar Novel View Synthesiscited by 0