  The Boreas dataset was collected by driving a repeated route over the course
of one year, resulting in stark seasonal variations and adverse weather
conditions such as rain and falling snow. In total, the Boreas dataset includes
over 350km of driving data featuring a 128-channel Velodyne Alpha Prime lidar,
a 360$^\circ$ Navtech CIR304-H scanning radar, a 5MP FLIR Blackfly S camera,
and centimetre-accurate post-processed ground truth poses. Our dataset will
support live leaderboards for odometry, metric localization, and 3D object
detection. The dataset and development kit are available at
https://www.boreas.utias.utoronto.ca
