List of Datasets

Automotive

RACECAR

High-speed autonomous racing perception and localization

Twenty-seven Indy autonomous racing sessions provide multi-camera, LiDAR, radar and RTK/inertial measurements across eleven scenarios.

Metadata: Complete Metadata source documented Released 2023

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

Supplementary

Not reported

Quick facts

Vehicle type
Automotive
Environment
Outdoor
Data origin
Real-world
Sensor count
16
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

Sensor overview

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

Cameras

6 reported

IMUs

2 reported

GNSS

2 reported

LiDAR

3 reported

Radar

3 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.
3D position RTK GNSS Common-frame onboard RTK positions Not reported 20 Hz 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.
Derived
Accuracy notes
Reported fix accuracy below 1–2 cm; conditional on RTK status, not an unconditional sequence-wide bound.
Reference notes
Uses dataset GNSS inputs, with solution status/deviation; not independent of GNSS-aided estimators.

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

Not reported

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Twenty-seven paper-era sessions cover eleven racing scenarios; available sensor modalities vary by recording.

Six cameras, three LiDARs, three radars and two GNSS/inertial packages describe the vehicle configuration. Configurable or rated hardware values are not asserted as release-wide capture settings.

Onboard RTK positions reuse normal navigation inputs. Accuracy depends on fix status; receiver model claims conflict, and 125 Hz inertial output is not native component sampling.

Experimental automatically generated detections are not claimed as a released manual annotation product.

Cameras

Camera 1

Model
Allied Vision Mako G-319C
Setup
Mono
Count
6
Effective cameras
6
Modality
Rgb
Resolution
Not reported
Rate
Not reported
Shutter
Global
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
Maximum 2064×1544/37.6 FPS is a device capability; actual capture settings are configurable and not asserted.

IMUs

Released inertial measurements

Model
Not reported
Count
2
Accel / gyro
Not reported

GNSS

GNSS 1

Model or name
Not reported
Count
2
Rate
20 Hz
GNSS type
RTK
Position output
Available
Velocity output
Not reported
Heading output
Not reported

LiDAR

Luminar H3

Model or name
Luminar H3
Count
3
Dimensions
3
Rate
Not reported
Channels
Not reported
Range
Not reported

Radar

Aptiv ESR

Count
1
Released data
Tracked objects
Frame rate
Not reported
Doppler velocity
Not reported
Elevation angle
Not reported
Configured range
Not reported
Field of view
Not reported
Notes
Front processed tracks; 20 Hz table specification is not independently verified release cadence.

Aptiv MRR

Count
2
Released data
Tracked objects
Frame rate
Not reported
Doppler velocity
Not reported
Elevation angle
Not reported
Configured range
Not reported
Field of view
Not reported
Notes
Side processed tracks.

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
kulkarni2023racecar

BibTeX

@misc{kulkarni2023racecar,
  author = {Amar Kulkarni and John Chrosniak and Emory Ducote and Florian Sauerbeck and Andrew Saba and Utkarsh Chirimar and John Link and Marcello Cellina and Madhur Behl},
  title = {RACECAR - The Dataset for High-Speed Autonomous Racing},
  year = {2023},
  url = {https://arxiv.org/abs/2306.03252v1}
}

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