Dataset of radar and optical imagery of road actors

The dataset is composed by low-THz (300 GHz) radar scans ant their associated optical images of six roadside targets: bike, traffic cone, stuffed dog, mannequin, traffic sign, trolley. The radar system was designed at The University of Birmingham and the measurements for obtaining the imagery dataset were performed in controlled laboratory environment. The system comprised of a ZED stereo camera and a bespoke LFMCW radar, with one transmitter and three receivers. A full radar scan and an optical image were taken for each azimuth position, by placing the objects on a turntable and rotate it 360 degrees in a stop-and-go mode. Data was taken from three receivers which were placed at different heights, hence there are three different images for one single position of each object. Scans were taken with targets placed at two ranges: 3.8 m and 6.3 m. The archives contain .mat files, which are structures of RGB images with three fields, one for each receiver. The name of the file indicates the target and the range