List of Datasets

Automotive

OORD

Radar place recognition

Repeated offroad scanning-radar traversals in the Scottish Highlands, with GPS/INS reference and adverse weather.

Metadata: Complete Metadata source documented Released 2024

Primary places to inspect, download, read about, or reproduce the dataset.

Quick facts

Vehicle type
Automotive
Environment
Outdoor
Data origin
Real-world
Sensor count
3
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

Sensor overview

High-level sensor availability before the detailed sensor records below.

Cameras

1 reported

IMUs

1 reported

GNSS

Not reported

LiDAR

Not reported

Radar

1 reported

Magnetometers

Not reported

Barometers

Not reported

UWB

Not reported

Ground truth

Reference scope, method, rate, coverage, and provenance.

Scope Method Reference system Count Rate Coverage Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
6DoF GNSS / INS Microstrain GPS/INS · 3DM-RQ1-45 1 GPS/INS unit Not reported Unknown Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
Hybrid
Reference notes
GPS/INS fusion reference; position/velocity/attitude available, used for place-recognition supervision. The 25 m evaluation threshold is not reference accuracy.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Parameters Only
Processed parameters
Available
Raw calibration data
Not reported
Calibration targets
Not reported

Parameters only

Processed calibration parameters are reported, but raw calibration data is not reported.

Notes

CAD-derived relative poses, with radar the origin.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Eleven rugged offroad forays cover four Scottish Highland routes and approximately 154 km. Reference navigation and adverse weather differ from an independently surveyed trajectory.

Current author download links include image archives for ten of eleven forays despite the older paper non-release caption. Camera hardware/count/rates and complete archive contents remain unknown.

GPS/INS reference can share inertial data with algorithm inputs; the 25 m place-recognition evaluation tolerance is not reference accuracy. Exact storage size/scope and achieved timing/reference error remain unknown.

Calibration uses CAD-derived relative poses. Raw calibration recordings and a full independently verified GPS/INS raw stream inventory are not established.

Cameras

Camera 1

Model
Not reported
Setup
Not Reported
Count
1
Effective cameras
1
Modality
Not Reported
Resolution
Not reported
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
The current official table links image archives for ten of eleven forays, superseding the older paper non-release caption. Camera model, physical count, color modality and cadence remain unverified; one foray has no image link.

IMUs

Microstrain 3DM-RQ1-45 integrated IMU

Model
Not reported
Count
1
Accel / gyro
Not reported

GNSS

Not reported

LiDAR

Not reported

Radar

Navtech CTS350-X

Count
1
Released data
Scanning power images
Frame rate
4 Hz
Doppler velocity
Not available
Elevation angle
Not available
Configured range
163 m
Field of view
360° H (per radar)
File format
Polar PNG
Notes
2D polar power images; 400 azimuth samples/rotation, 163 m range, 4.38 cm range resolution.

Additional sensors

Not reported

Annotations

Reported annotation availability and task support.

Availability
Not reported
Format
Not reported
Class count
Not reported
Semantic segmentation Not reported
Instance segmentation Not reported
Object detection Not reported
Optical flow Not reported
Depth ground truth Not reported

Citation

Citation key and BibTeX kept at the end of the page for reference.

Citation key
gadd2024oord

BibTeX

@misc{gadd2024oord,
  author = {{Matthew Gadd} and {Daniele De Martini} and {Oliver Bartlett} and {Paul Murcutt} and {Matt Towlson} and {Matthew Widojo} and {Valentina Mușat} and {Luke Robinson} and {Efimia Panagiotaki} and {Georgi Pramatarov} and {Marc Alexander Kühn} and {Letizia Marchegiani} and {Paul Newman} and {Lars Kunze}},
  title = {OORD: The Oxford Offroad Radar Dataset},
  year = {2024},
  eprint = {2403.02845},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2403.02845v2}
}

Dataset corrections

Notice a specific issue after reviewing the page?

Report an inaccuracy