[TOC]
The INTERACTION dataset provides 4 different kinds of interactive driving scenarios: roundabout, un-signalized intersection, signalized intersection, merging and lane changing. In total, we have collected data from 11 locations using drones or fixed cameras. 12 folders are included in the released "recorded_trackfiles" folder. Folders with "DR_" are track files recorded via drones and folders with "TC_" are trackfiles recorded via fixed cameras. The summary of the data is listed in the following table.
For the 11 recording locations, we include three files for each location:
- Image of the recording location (xxx.jpg)
- High definition (HD) map (xxx.osm)
- Recorded trackfiles (vehicle_tracks_xxx.csv)
We also have provided a visualization tool (in python) for the users to visualize the HD map and the tracks. You can find more information in the part of the "visualization tools".
This file contains all time dependent values for each track. Information such as track id, vehicle types, vehicle sizes, current positions, current velocities, and orientations are included.
track_id: column 1. For each vehicle/person_tracks_xxx.csv file, the track_id starts from 1, and represent the ID of the agent.
frame_id: column 2. For each agent (per track_id), frame_id starts from 0, and represents the frames the agent appears in the video.
timestamp_ms: column 3. For each agent (per track_id), timestamp_ms from 0ms, and represents the time the agent appear in the video. The unit is ms.
agent_type: column 4. It represents the types of the tracked agent. For example, it can be a person, a car, a truck and so on.
x: column 5, the x position of the agent at each frame. The unit is m.
y: column 6, the y position of the agent at each frame. The unit is m.
vx: column 7, the velocity of the agent along x direction at each frame. The unit is m/s.
vy: column 8, the velocity of the agent along y direction at each frame. The unit is m/s.
psi_rad: column 9, the yaw angle of the agent at each frame. The unit is rad.
length: column 10, the length of the agent. The unit is m.
width: column 11, the width of the agent. The unit is m.
| track_id | frame_id | timestamp_ms | agent_type | x | y | vx | vy | psi_rad | length | width |
|---|---|---|---|---|---|---|---|---|---|---|
| 1 | 0 | 0 | car | 999.101 | 1006.934 | -7.485 | 3.125 | 2.746 | 4 | 1.8 |
| 1 | 1 | 100 | car | 999.354 | 1007.249 | -7.478 | 3.141 | 2.744 | 4 | 1.8 |
We also have provided tools to visualize the tracks with the HD maps. The usage of the tools can be found in the Visualization Tool Usage.md file.