Colorado mm-Wave Radar (ColoRadar) dataset. It consists of 52 sequences, recorded in mines, built environments, and in an urban creek path, totaling more than 145 minutes of 3D FMCW radar, 3D lidar, and IMU data.

ColoRadar: The direct 3D millimeter wave radar dataset.” The International Journal of Robotics Research 41, no. 4 (2022): 351-360.