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Mcity Data Collection for Automated Vehicles Study

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arxiv 1912.06258 v1 pith:YZGLCXG6 submitted 2019-12-12 cs.CV cs.ROcs.SYeess.SY

Yiqun Dong , Yuanxin Zhong , Wenbo Yu , Minghan Zhu , Pingping Lu , Yeyang Fang , Jiajun Hong , Huei Peng This is my paper · ORCID
classification cs.CVcs.ROcs.SYeess.SY
keywords vehicledatacollectionmcityautomatedcamerasselectedanalysis
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The main goal of this paper is to introduce the data collection effort at Mcity targeting automated vehicle development. We captured a comprehensive set of data from a set of perception sensors (Lidars, Radars, Cameras) as well as vehicle steering/brake/throttle inputs and an RTK unit. Two in-cabin cameras record the human driver's behaviors for possible future use. The naturalistic driving on selected open roads is recorded at different time of day and weather conditions. We also perform designed choreography data collection inside the Mcity test facility focusing on vehicle to vehicle, and vehicle to vulnerable road user interactions which is quite unique among existing open-source datasets. The vehicle platform, data content, tags/labels, and selected analysis results are shown in this paper.

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