Oxford Radar RobotCar is a radar extension of the Oxford RobotCar dataset. The data was obtained by observing a route in central Oxford, UK. The data was collected in January 2019, crossing a route in the center of Oxford 32 times, for a total of 280 km of urban driving. The dataset contains a variety of weather, traffic, and lighting conditions.

Sensor types and data size of this dataset:

• 240,000 scans from a Navtech CTS350-X radar;

• 2.4 million scans from Dual Velodyne HDL-32E LIDARs;

• 6 cameras, 2 2D LIDARs, and a GPS/INS receiver;

• Ground truth optimized radar ranging method