System

4D Radar Data

• 4D Radar was acquired at a frequency of 20Hz and saved as a bin file in the format. The filename of each binary file corresponds to the acquisition timestamp, and these timestamps are also archived in stamp.csv. The file player releases the topics grounded on this timestamp file.

Spinning Radar Data

• Spinning radar data were collected at 4 Hz. For each sweep we provide both a polar-domain image and a Cartesian-domain image, saved in PNG format. The polar image resolution is 400 × 3424 (width × height). This dual representation enables users to work either directly with the native polar measurements or with a pre-projected Cartesian view for downstream perception tasks. 

LiDAR Data

• FMCW LiDAR was acquired at a frequency of 10Hz and saved as a bin file in the format. The filename of each binary file corresponds to the acquisition timestamp, and these timestamps are also archived in stamp.csv. The file player releases the topics grounded on this timestamp file.

Stereo Camera Data

• Stereo camera data were recorded at 15 Hz and saved as PNG images at 1440 × 1080 (width × height). To protect privacy, faces and vehicle license plates were anonymized using the EgoBlur system from Project Aria (see: https://www.projectaria.com/tools/egoblur/). The anonymization is applied consistently across frames to preserve temporal coherence while removing personally identifiable information. 

IMU Data

• The data structure for the IMU is organized in the following order: [timestamp, qx, qy, qz, qw, eul x, eul y, eul z, gyr x, gyr y, gyr z, acc x, acc y, acc z, mag x, mag y, mag z]. This information is stored in the 'xsens_imu.csv' file. Additionally, it is broadcasted as a ROS topic under the name '/imu/data_raw', which publishes data in the format [timestamp, quaternion, angular_velocity, linear_acceleration] at a frequency of 100Hz.

INS Data

• The INS data is stored in the 'inspva.csv' file, organized in the following sequence: [timestamp, latitude, longitude, height, north velocity, east velocity, up velocity, roll, pitch, azimuth, status]. This data serves as the foundation for creating the ground truth and was acquired at a frequency of 50Hz.