4DLidarOpen: An Open 4D FMCW Lidar Dataset for Motion-Aware Autonomous Driving

Understand

We present 4DLidarOpen, a large-scale open multi-modal dataset for autonomous driving, centered on 4D frequency-modulated continuous-wave (FMCW) Lidar sensing.

• Unlike conventional time-of-flight Lidar datasets that mainly provide geometric measurements, 4DLidarOpen includes point-wise radial velocity measurements from a forward-facing 4D FMCW Lidar, together with multiple Lidars of different types, including rotating, solid-state, and blind-spot variants, surround-view cameras, and 6-DOF ego-vehicle poses.
• The dataset was collected in complex urban environments in Beijing and covers dense pedestrian interactions, congested traffic, high-speed driving, and unprotected maneuvers.
• 4DLidarOpen provides synchronized multi-sensor data and 3D bounding-box annotations with persistent track IDs across five object categories.