Cooperative Driving Dataset (CODD)

The Cooperative Driving dataset is a synthetic dataset generated using CARLA that contains lidar data from multiple vehicles navigating simultaneously through a diverse set of driving scenarios. This dataset was created to enable further research in multi-agent perception (cooperative perception) including cooperative 3D object detection, cooperative object tracking, multi-agent SLAM and point cloud registration.

Towards that goal, all the frames have been labelled with ground-truth sensor pose and 3D object bounding boxes. This document details the organisation of the dataset, including its data sctructure. The official code repository provides code to visualise the data as well as the code used to create the dataset, allowing users to customly create their own custom version of the dataset.