List of Datasets

Automotive

RadarScenes Clutter

Radar clutter segmentation and reproducible derived labels

A reproducible RadarScenes annotation extension labels detections as moving object, stationary or clutter using semantic and radial-velocity rules.

Metadata: Complete Metadata source documented Released 2023

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

Quick facts

Vehicle type
Automotive
Environment
Outdoor
Data origin
Real-world
Sensor count
4
Ground truth
Not reported
Calibration
Not reported
Annotations
Available

Sensor overview

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

Cameras

Not reported

IMUs

Not reported

GNSS

Not reported

LiDAR

Not reported

Radar

4 reported

Magnetometers

Not reported

Barometers

Not reported

UWB

Not reported

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

Not reported

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

This is an original annotation-generation release for RadarScenes, requiring the separately downloaded parent measurements. It does not provide a new independently recorded sensor collection or a verified pregenerated label archive.

Moving-object, stationary and clutter labels are derived from existing semantics, spatial tolerances and radial velocity. Stationary clutter can remain ambiguous; this is not exhaustive independently measured clutter truth.

Parent collection totals are not asserted as generated output counts. Physical radar specifications, calibration and achieved reference errors are not imported without edition-specific evidence.

The provided generator modifies labels in the chosen dataset directory. Use the author instructions and retain an original copy when generating the annotation product.

Cameras

Not reported

IMUs

Not reported

GNSS

Not reported

LiDAR

Not reported

Radar

Radar 1

Count
4
Released data
Point detections / point clouds
Frame rate
Not reported
Doppler velocity
Available
Elevation angle
Not available
Configured range
100 m
Field of view
120° H (per radar)
Carrier frequency
77 GHz
File format
HDF5
Notes
Inherited four 2D 77 GHz radars; 100 m range and ±60-degree azimuth. Raw data must be obtained from RadarScenes.

Additional sensors

Not reported

Automotive

RadarScenes

Four asynchronously cycling radars, odometry and anonymized documentation images support manually labeled moving-road-user perception.

Annotations

Reported annotation availability and task support.

Availability
Available
Format
Generated per-detection labels: moving object, stationary, clutter
Class count
3
Semantic segmentation Available
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
kopp2023radarclutter

BibTeX

@inproceedings{kopp2023radarclutter,
	title = {{Tackling Clutter in Radar Data -- Label Generation and Detection Using PointNet++}},
	author = {Kopp, Johannes and Kellner, Dominik and Piroli, Aldi and Dietmayer, Klaus},
	booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
	publisher = {IEEE},
	pages = {1493--1499},
	year = {2023},
	month = {may},
	doi = {10.1109/ICRA48891.2023.10160222},
	isbn = {979-8-3503-2365-8},
	url = {https://ieeexplore.ieee.org/document/10160222/}
}

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