# ColoRadar: The Direct 3D Millimeter Wave Radar Dataset

arXiv: https://arxiv.org/abs/2103.04510 · HTML: https://mlsanity.com/paper/2103.04510/

## Key facts

- Cited by 21 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Mar 2021.

## Built on by (most cited first, 21 of 21)

- [RadarOcc: Robust 3D Occupancy Prediction with 4D Imaging Radar](https://mlsanity.com/paper/2405.14014/) (2024)
- [Dual Radar: A Multi-modal Dataset with Dual 4D Radar for Autonomous Driving](https://mlsanity.com/paper/2310.07602/) (2023)
- [Exploring Radar Data Representations in Autonomous Driving: A Comprehensive Review](https://mlsanity.com/paper/2312.04861/) (2023)
- [NTU4DRadLM: 4D Radar-centric Multi-Modal Dataset for Localization and Mapping](https://mlsanity.com/paper/2309.00962/) (2023)
- [Towards Dense and Accurate Radar Perception Via Efficient Cross-Modal Diffusion Model](https://mlsanity.com/paper/2403.08460/) (2024)
- [Towards Foundational Models for Single-Chip Radar](https://mlsanity.com/paper/2509.12482/) (2025)
- [MITO: A Millimeter-Wave Dataset and Simulator for Non-Line-of-Sight Perception](https://mlsanity.com/paper/2502.10259/) (2025)
- [4D mmWave Radar for Sensing Enhancement in Adverse Environments: Advances and Challenges](https://mlsanity.com/paper/2503.24091/) (2025)
- [RadarSim: Simulating Single-Chip Radar via Multimodal Neural Fields](https://mlsanity.com/paper/2605.26328/) (2026)
- [Multimodal Dataset from Harsh Sub-Terranean Environment with Aerosol Particles for Frontier Exploration](https://mlsanity.com/paper/2304.14520/) (2023)
- [RaLD: Generating High-Resolution 3D Radar Point Clouds with Latent Diffusion](https://mlsanity.com/paper/2511.07067/) (2025)
- [RadarSplat-RIO: Indoor Radar-Inertial Odometry with Gaussian Splatting-Based Radar Bundle Adjustment](https://mlsanity.com/paper/2604.13492/) (2026)
- [Weather-Robust Scene Semantics with Vision-Aligned 4D Radar](https://mlsanity.com/paper/2605.07367/) (2026)
- [mmIR: Frequency-Space Inverse Rendering for 3D Millimeter-Wave Radar ADC Synthesis](https://mlsanity.com/paper/2608.28913/) (2026)
- [Rad-R: A Raw-ADC Radar Dataset and Capture-Invariant SSM for Hardware-Fault Diagnosis](https://mlsanity.com/paper/2608.30896/) (2026)
- [Performance Analysis of Fixed Broadband Wireless Access in mmWave Band in 5G](https://mlsanity.com/paper/2312.09467/) (2023)
- [Cross-modal semantic segmentation for indoor environmental perception using single-chip millimeter-wave radar raw data](https://mlsanity.com/paper/2411.00499/) (2024)
- [Uncertainty-Driven Radar-Inertial Fusion for Instantaneous 3D Ego-Velocity Estimation](https://mlsanity.com/paper/2506.14294/) (2025)
- [Epistemic Memory: A Validity Layer for Self-Maintaining Intelligent Systems](https://mlsanity.com/paper/2510.16899/) (2025)
- [RaUF: Learning the Spatial Uncertainty Field of Radar](https://mlsanity.com/paper/2603.01026/) (2026)
- [3D Point Splatting for mmWave Radar Novel View Synthesis](https://mlsanity.com/paper/2609.11894/) (2026)

## 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.