# openDD: A Large-Scale Roundabout Drone Dataset

arXiv: https://arxiv.org/abs/2007.08463 · HTML: https://mlsanity.com/paper/2007.08463/

## Key facts

- Cited by 29 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Jul 2020.

## Built on by (most cited first, 29 of 29)

- [Towards learning-based planning:The nuPlan benchmark for real-world autonomous driving](https://mlsanity.com/paper/2403.04133/) (2024)
- [A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlook](https://mlsanity.com/paper/2401.01454/) (2024)
- [Explainable AI for Safe and Trustworthy Autonomous Driving: A Systematic Review](https://mlsanity.com/paper/2402.10086/) (2024)
- [An Application-Driven Conceptualization of Corner Cases for Perception in Highly Automated Driving](https://mlsanity.com/paper/2103.03678/) (2021)
- [Imagining The Road Ahead: Multi-Agent Trajectory Prediction via Differentiable Simulation](https://mlsanity.com/paper/2104.11212/) (2021)
- [SIND: A Drone Dataset at Signalized Intersection in China](https://mlsanity.com/paper/2209.02297/) (2022)
- [WOMD-LiDAR: Raw Sensor Dataset Benchmark for Motion Forecasting](https://mlsanity.com/paper/2304.03834/) (2023)
- [I-24 MOTION: An instrument for freeway traffic science](https://mlsanity.com/paper/2301.11198/) (2023)
- [DQ-GAT: Towards Safe and Efficient Autonomous Driving with Deep Q-Learning and Graph Attention Networks](https://mlsanity.com/paper/2108.05030/) (2021)
- [Ad-datasets: a meta-collection of data sets for autonomous driving](https://mlsanity.com/paper/2202.01909/) (2022)
- [Verifiable Goal Recognition for Autonomous Driving with Occlusions](https://mlsanity.com/paper/2206.14163/) (2022)
- [CAROM Air -- Vehicle Localization and Traffic Scene Reconstruction from Aerial Videos](https://mlsanity.com/paper/2306.00075/) (2023)
- [Autonomous Driving at Unsignalized Intersections: A Review of Decision-Making Challenges and Reinforcement Learning-Based Solutions](https://mlsanity.com/paper/2409.13144/) (2024)
- [Highly Accurate and Diverse Traffic Data: The DeepScenario Open 3D Dataset](https://mlsanity.com/paper/2504.17371/) (2025)
- [KI-GAN: Knowledge-Informed Generative Adversarial Networks for Enhanced Multi-Vehicle Trajectory Forecasting at Signalized Intersections](https://mlsanity.com/paper/2404.11181/) (2024)
- [Adversarial and Reactive Traffic Entities for Behavior-Realistic Driving Simulation: A Review](https://mlsanity.com/paper/2409.14196/) (2024)
- [NU-AIR -- A Neuromorphic Urban Aerial Dataset for Detection and Localization of Pedestrians and Vehicles](https://mlsanity.com/paper/2302.09429/) (2023)
- [UAV-Based Intelligent Traffic Surveillance System: Real-Time Vehicle Detection, Classification, Tracking, and Behavioral Analysis](https://mlsanity.com/paper/2509.04624/) (2025)
- [VTrackIt: A Synthetic Self-Driving Dataset with Infrastructure and Pooled Vehicle Information](https://mlsanity.com/paper/2207.11146/) (2022)
- [GSGFormer: Generative Social Graph Transformer for Multimodal Pedestrian Trajectory Prediction](https://mlsanity.com/paper/2312.04479/) (2023)
- [MESSI: A Multi-Elevation Semantic Segmentation Image Dataset of an Urban Environment](https://mlsanity.com/paper/2505.08589/) (2025)
- [HetroD: A High-Fidelity Drone Dataset and Benchmark for Autonomous Driving in Heterogeneous Traffic](https://mlsanity.com/paper/2602.03447/) (2026)
- [Comfort-oriented driving: performance comparison between human drivers and motion planners](https://mlsanity.com/paper/2301.10538/) (2023)
- [Effect of roundabout design on the behavior of road users: A case study of roundabouts with application of Unsupervised Machine Learning](https://mlsanity.com/paper/2309.14540/) (2023)
- [A Survey on Deep Multi-Task Learning in Connected Autonomous Vehicles](https://mlsanity.com/paper/2508.00917/) (2025)
- [ROSA-RL: Uncertainty-Aware Roundabout Optimized Speed Advisory with Reinforcement Learning](https://mlsanity.com/paper/2606.16558/) (2026)
- [Unveiling Transferability in Trajectory Prediction via Latent Scene Embeddings](https://mlsanity.com/paper/2606.30777/) (2026)
- [Shift & Drift: A Zero-Shot Benchmark for Generalizable and Robust Autonomous Driving Motion Planning](https://mlsanity.com/paper/2607.07844/) (2026)
- [LoRFT: Benchmarking Long-Range Vehicle Trajectory Reconstruction from Fixed Highway Cameras](https://mlsanity.com/paper/2607.19911/) (2026)

## Abstract (arXiv)

Analyzing and predicting the traffic scene around the ego vehicle has been one of the key challenges in autonomous driving. Datasets including the trajectories of all road users present in a scene, as well as the underlying road topology are invaluable to analyze the behavior of the different traffic participants. The interaction between the various traffic participants is especially high in intersection types that are not regulated by traffic lights, the most common one being the roundabout. We introduce the openDD dataset, including 84,774 accurately tracked trajectories and HD map data of seven different roundabouts. The openDD dataset is annotated using images taken by a drone in 501 separate flights, totalling in over 62 hours of trajectory data. As of today, openDD is by far the largest publicly available trajectory dataset recorded from a drone perspective, while comparable datasets span 17 hours at most. The data is available, for both commercial and noncommercial use, at: http://www.l3pilot.eu/openDD.