The domain is the set containing all the x-coordinates of the points of the relation.
The range is the set containing all the y-coordinates of the points of the relation.
The x-coordinates are 2, -1, 5, -3, so the set containing the x-coordinates is {-3, -1, 2, 5}. This is the domain.
The y-coordinates are 2, 4, 2, 0, so the set containing the y-coordinates is {0, 2, 4}. That is the range.