Ann Arbor Intersection Trajectory Data

Introduction

The dataset contains the road user trajectory data perceived by the roadside perception system deployed in the City of Ann Arbor, Michigan, through the Smart Intersections Project.

• The data was collected at the signalized intersections and pedestrian crossing midblocks of City of Ann Arbor, Michigan.
• The data was collected from 9am to 6pm in the third quarter of 2023.
• Msight roadside perception system is used to extract the road user trajectories from raw video frames.

Citation

Design, Implementation, and Evaluation of a Roadside Cooperative Perception System
Rusheng Zhang, Zhengxia Zou, Shengyin Shen, and Henry X. Liu
Transportation Research Record, 2022

@article{zhang2022design,
    author = {Rusheng Zhang and Zhengxia Zou and Shengyin Shen and Henry X. Liu},
    title ={Design, Implementation, and Evaluation of a Roadside Cooperative Perception System},
    journal = {Transportation Research Record},
    volume = {2676},
    number = {11},
    pages = {273-284},
    year = {2022},
    doi = {10.1177/03611981221092402},
}

Real-time full-stack traffic scene perception for autonomous driving with roadside cameras
Zhengxia Zou, Rusheng Zhang, Shengyin Shen, Gaurav Pandey, Punarjay Chakravarty, Armin Parchami, and Henry X. Liu
International Conference on Robotics and Automation, 2022

@inproceedings{zou2022real,
  title={Real-time full-stack traffic scene perception for autonomous driving with roadside cameras},
  author={Zou, Zhengxia and Zhang, Rusheng and Shen, Shengyin and Pandey, Gaurav and Chakravarty, Punarjay and Parchami, Armin and Liu, Henry X},
  booktitle={2022 International Conference on Robotics and Automation (ICRA)},
  pages={890--896},
  year={2022},
  organization={IEEE}
}

Data format

The dataset is formatted into multiple zip files. Each zip file contains the road user trajectory data within one day.

root/
  |-state_ellsworth/
  | |-2023-07-08.zip
  | |-2023-07-09.zip
  | ...
  | `-2023-07-14.zip
  |
  `-main_stadium/
    |-2023-09-24.zip
    |-2023-09-25.zip
    ...
    `-2023-09-30.zip

Each zip file contains multiple json files.

2023-07-08.zip
  |-2023-07-08 09-00-28-452291.json
  |-2023-07-08 09-00-28-841508.json
  |-2023-07-08 09-00-29-252612.json
  ...

Each json file contains the road user trajectory data of one frame. Here is an example of the data in a json file

[
  {
    "id": "1",    # id of the road user (not universal unique id)
    "confidence": 0.849,    # confidence of the vehicle detection
    "lat": 42.301,    # the latitude coordinate of the road user position
    "lon": -83.698,   # the longitude coordinate of the road user position
    "category": 0.0,      # the category of the vehicle (0: cars, 1: truck, 2: bus, 3: trailer, 4: motorcyclist/bicyclist, 5: pedestrian, 6: van, 7: pickup)
    "speed": 1.536,      # the speed of the road user (m/s)
    "speed_heading": -1.741,      # the heading of the vehicle (north: 0, clock-wise)
      }

Download

State and Ellsworth Roundabout

Main and Stadium Intersection

Terms of use

Licenses

Unless specifically labeled otherwise, these Datasets are provided to You under a Creative Commons Attribution-Sharealike 4.0 International Public License (“CC BY-SA 4.0”) The CC BY-SA 4.0 may be accessed at https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode. When You download or use the Datasets from the Website or elsewhere, You are agreeing to comply with the terms of CC BY-SA 4.0 and also agreeing to the Dataset Terms. Where these Dataset Terms conflict with the terms of CC BY-SA 4.0, these Dataset Terms shall prevail.

Acknowledgment

The dataset is supported by Mcity and National Science Foundation.

Developers

Depu Meng ([email protected])

Rusheng Zhang ([email protected])

Boqi Li ([email protected])

Contact

Henry Liu ([email protected])

Sean Shen ([email protected])