The "Open Sensor Data for Rail 2023" (OSDaR23) has been created as part of a joint research project by DZSF (German Centre for Rail Traffic Research at the Federal Railway Authority), Digitale Schiene Deutschland / DB Netz AG, and FusionSystems GmbH. The concluding project report and information about the data labeling taxonomy can be obtained from the DZSF's website. The dataset consists of 45 sequences of annotated multi-sensor data (RGB camera, IR camera, lidar, radar, localization and IMU). Data has been collected from different railway track stretches in Hamburg, Germany. For more information and relevant links, please refer to the alternate description on FID-move.