Co-RaL-Dataset

This repository includes the experimental dataset acquired to evaluate our radar-leg odometry algorithm, Co-RaL, accepted by IEEE IROS 2024. Our dataset includes sensor data of chip radar, imu, velodyne, and kinematic data from Boston Dynamics SPOT (Joint encoders and contact sensors). Each sequence is acquired with different environments to evaluate the algorithm performance generally. The dataset is provided with ROS Bag file format.