ZF FRGen21 Automotive Radar Dataset

This dataset provides high-resolution 4D imaging-radar data with six-degree-of-freedom ground truth, collected for research on radar-based odometry, localization, and mapping. Data was recorded in Friedrichshafen, Germany, and the surrounding Lake Constance region using a front-facing prototype 77 GHz FMCW MIMO imaging radar (ZF FRGen21) operating at approximately 11 Hz. Each detection provides range, azimuth, elevation, and radial (Doppler) velocity. Ground-truth trajectories are provided by an OxTS DGPS/INS system. The dataset spans 51 km of driving under diverse conditions, including city-center traffic, rural roads, low-speed stop-and-go driving, and highway segments exceeding 90 km/h. Several high-speed sequences exhibit Doppler velocity aliasing (wrapped Doppler), enabling evaluation under conditions in which radial-velocity measurements are ambiguous. The manufacturer specifies nominal accuracies of 0.15° in azimuth, 0.3° in elevation, 0.01 m/s in radial velocity, and 0.02 m in range, depending on target properties and sensor mode. These values should not be interpreted as measurement-noise standard deviations. The dataset contains six driving sequences. Each sequence provides radar detections as PCD files and six-degree-of-freedom ground-truth poses as a CSV file. A single radar-to-ground-truth extrinsic calibration, applicable to all sequences, is also provided as a CSV file. Loader scripts and a visualizer are available in the ZF FRGen21 Automotive Radar Dataset repository. A peer-reviewed article describing this dataset is under review. Citation details will be added upon publication.