  Millimeter wave radar is becoming increasingly popular as a sensing modality
for robotic mapping and state estimation. However, there are very few publicly
available datasets that include dense, high-resolution millimeter wave radar
scans and there are none focused on 3D odometry and mapping. In this paper we
present a solution to that problem. The ColoRadar dataset includes 3 different
forms of dense, high-resolution radar data from 2 FMCW radar sensors as well as
3D lidar, IMU, and highly accurate groundtruth for the sensor rig's pose over
approximately 2 hours of data collection in highly diverse 3D environments.
