The Cooperative Driving dataset is a synthetic dataset generated using [CARLA](https://github.com/carla-simulator/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](https://github.com/eduardohenriquearnold/CODD) 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.

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