  This paper introduces the Bosch street dataset (BSD), a novel multi-modal
large-scale dataset aimed at promoting highly automated driving (HAD) and
advanced driver-assistance systems (ADAS) research. Unlike existing datasets,
BSD offers a unique integration of high-resolution imaging radar, lidar, and
camera sensors, providing unprecedented 360-degree coverage to bridge the
current gap in high-resolution radar data availability. Spanning urban, rural,
and highway environments, BSD enables detailed exploration into radar-based
object detection and sensor fusion techniques. The dataset is aimed at
facilitating academic and research collaborations between Bosch and current and
future partners. This aims to foster joint efforts in developing cutting-edge
HAD and ADAS technologies. The paper describes the dataset's key attributes,
including its scalability, radar resolution, and labeling methodology. Key
offerings also include initial benchmarks for sensor modalities and a
development kit tailored for extensive data analysis and performance
evaluation, underscoring our commitment to contributing valuable resources to
the HAD and ADAS research community.
