A9-Dataset: Multi-Sensor Infrastructure-Based Dataset for Mobility Research
A9-Dataset: Multi-Sensor Infrastructure-Based Dataset for Mobility Research
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DOI：
10.48550/arxiv.2204.06527
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发表时间：
2022-04
期刊：
影响因子：
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通讯作者：
Christian Creß;W. Zimmer;Leah Strand;Venkatnarayanan Lakshminarasimhan;Maximilian Fortkord;Siyi Dai;Alois Knoll
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文献类型：
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作者：
Christian Creß;W. Zimmer;Leah Strand;Venkatnarayanan Lakshminarasimhan;Maximilian Fortkord;Siyi Dai;Alois Knoll
基于数据密集型机器学习的技术在未来移动解决方案的发展中发挥着越来越重要的作用——从驾驶辅助和车辆自动化功能，到通过专用基础设施实现的实时交通管理系统。高质量真实数据的可用性通常是大规模开发和可靠部署此类系统的重要先决条件。为此，我们展示了基于德国慕尼黑附近3公里长的Providentia++试验场的路边传感器基础设施的a9数据集。该数据集包括匿名化和精确时间戳的高分辨率多模态传感器和目标数据，涵盖各种交通情况。作为我们在本文中描述的第一组数据的一部分，我们提供了来自A9高速公路上两座高架龙门桥的相机和激光雷达帧，并将相应的物体标记为3D边界框。第一组总共包括1000多个传感器帧和14000个交通对象。该数据集可从https://a9-dataset.com下载。
Data-intensive machine learning based techniques increasingly play a prominent role in the development of future mobility solutions - from driver assistance and automation functions in vehicles, to real-time traffic management systems realized through dedicated infrastructure. The availability of high quality real-world data is often an important prerequisite for the development and reliable deployment of such systems in large scale. Towards this endeavour, we present the A9-Dataset based on roadside sensor infrastructure from the 3 km long Providentia++ test field near Munich in Germany. The dataset includes anonymized and precision-timestamped multi-modal sensor and object data in high resolution, covering a variety of traffic situations. As part of the first set of data, which we describe in this paper, we provide camera and LiDAR frames from two overhead gantry bridges on the A9 autobahn with the corresponding objects labeled with 3D bounding boxes. The first set includes in total more than 1000 sensor frames and 14000 traffic objects. The dataset is available for download at https://a9-dataset.com.