A Radar Dataset from the Trondheim City Canal

Abstract

In the automotive community, methods for tracking, localization,and situational awareness are routinely tested on well-known open-source datasets from the real world. In many other applications of target tracking, such as maritime radar tracking, there is a lack of such data. In this paper, we present a large dataset consisting of data recorded by a frequency-modulated continuous wave radar overlooking the Trondheim City Canal over several weeks during the summer of 2023. The dataset includes a rich variety of boat traffic, ranging from large ferries to formations of kayaks. All the data have been analyzed by means of classical joint integrated probabilistic data association-based multiple target tracking. We point out several challenges that arise in this dataset, such as merged measurements and multipath. We also demonstrate that the data are sufficient to generate statistical information about traffic patterns in the City Canal.

A Radar Dataset from the Trondheim City Canal