Automotive
CARRADA
Radar semantic segmentation, detection and tracking
Stationary test-track camera/radar sequences provide instance-linked sparse points, boxes and dense radar-domain masks.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Automotive
- Environment
- Outdoor
- Data origin
- Real-world
- Sensor count
- 2
- Ground truth
- Not reported
- Calibration
- Not reported
- Annotations
- Available
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
Not reported
Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Not reported
- Processed parameters
- Not reported
- Raw calibration data
- Not reported
- Calibration targets
- Not reported
Calibration data
Calibration reproducibility details are not reported.
Notes
Common Cartesian coordinate system and camera intrinsic/extrinsic projection; distributed files not established.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Thirty stationary test-track sequences contain 12,666 frames, of which 7,193 contain annotated instances. This is not an ego-motion driving corpus.
Range-angle/range-Doppler masks and boxes describe radar-domain recognition labels. They are not spatial 3D cuboids or independent platform-pose references.
The core archive and separate RAD-tensor archive have different sizes and processing products; their totals are not combined.
Exact acquisition rates, device models, calibration-file packaging and achieved timing precision remain unverified. Controlled scenes with one or two actors limit traffic diversity.
Cameras
Camera 1
- Model
- Not reported
- Setup
- Mono
- Count
- 1
- Effective cameras
- 1
- Modality
- Rgb
- Resolution
- 1238 x 1028
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
IMUs
Not reported
GNSS
Not reported
LiDAR
Not reported
Radar
Radar 1
- Count
- 1
- Released data
- Spectra / dense tensors
- Frame rate
- Not reported
- Doppler velocity
- Available
- Elevation angle
- Not available
- Configured range
- 50 m
- Field of view
- Not reported
- Carrier frequency
- 77 GHz
- Notes
- 77 GHz FMCW, 2 Tx and 4 Rx; RA 256×256 and RD 256×64; maximum range 50 m.
Additional sensors
Not reported
Annotations
Reported annotation availability and task support.
- Availability
- Available
- Format
- Radar-domain sparse points, bounding boxes, dense masks and per-instance IDs; three foreground classes plus background for dense masks.
- Class count
- 3
Semantic segmentation
Available
Instance segmentation
Not reported
Object detection
Available
Optical flow
Not reported
Depth ground truth
Not reported
Citation
Citation key and BibTeX kept at the end of the page for reference.
@misc{ouaknine2020carrada,
author = {Ouaknine, Arthur and Newson, Alasdair and Rebut, Julien and Tupin, Florence and Pérez, Patrick},
title = {CARRADA Dataset: Camera and Automotive Radar with Range-Angle-Doppler Annotations},
year = {2020},
eprint = {2005.01456},
archivePrefix = {arXiv},
url = {https://arxiv.org/abs/2005.01456v6}
}Dataset corrections
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