Boreas Road Trip: A Multi-Sensor Autonomous Driving Dataset on Challenging Roads

arXiv:2602.16870 · cs.RO, cs.DB · Submitted 2026-02-18 · Read on arXiv

cs.RO, cs.DB

Submitted: 2026-02-18

Updated: 2026-09-17

Comments: 23 pages, 15 figures, 12 tables, submitted to The International Journal of Robotics Research (IJRR)

Journal ref: The International Journal of Robotics Research, first published online September 7, 2026

DOI: 10.1177/02783649261479362

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Calibration — 27× in this paper · explained in 7 episodes
• Accuracy — 21× in this paper · explained in 1 episode
• Benchmark — 12× in this paper · explained in 2 episodes
• Alignment — 9× in this paper · explained in 1 episode
• alpha — 6× in this paper · explained in 1 episode
• Degeneracy — 2× in this paper · explained in 3 episodes
• Actor — 1× in this paper · explained in 3 episodes
• Consistency — 1× in this paper · explained in 3 episodes

Sources

• OORD: The Oxford Offroad Radar Dataset
• Balancing Act: Trading Off Odometry and Map Registration for Efficient Lidar Localization

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