mlsanityData to 7 Oct 2026

A9-Dataset: Multi-Sensor Infrastructure-Based Dataset for Mobility Research

arXiv 2204.06527 ↗First posted 13 Apr 2022cs.CVcited by 40

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Abstract (arXiv)

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.

Key facts. Cited by 40 papers in the map (data through 7 Oct 2026). Builds on 11 of its 21 references that are in the map. First posted on arXiv 13 Apr 2022.

Builds on

11 of 21 references.

References · 11

  1. 2014Microsoft COCO: Common Objects in Contextcited by 17,498
  2. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  3. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  4. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 728
  5. 2021Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Datasetcited by 532
  6. 2018The highD Dataset: A Drone Dataset of Naturalistic Vehicle Trajectories on German Highways for Validation of Highly Automated Driving Systemscited by 276
  7. 2020One Thousand and One Hours: Self-driving Motion Prediction Datasetcited by 239
  8. 2019The inD Dataset: A Drone Dataset of Naturalistic Road User Trajectories at German Intersectionscited by 137
  9. 20193D BAT: A Semi-Automatic, Web-based 3D Annotation Toolbox for Full-Surround, Multi-Modal Data Streamscited by 35
  10. 2019Providentia -- A Large-Scale Sensor System for the Assistance of Autonomous Vehicles and Its Evaluationcited by 17
  11. 2022Real-Time and Robust 3D Object Detection Within Road-Side LiDARs Using Domain Adaptationcited by 10

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 3; 2023: 12; 2024: 16; 2025: 8; 2026: 1.

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  1. 2023Vision Language Models in Autonomous Driving: A Survey and Outlookcited by 124
  2. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  3. 2024TUMTraf V2X Cooperative Perception Datasetcited by 66
  4. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  5. 2024End-to-End Autonomous Driving through V2X Cooperationcited by 42
  6. 2024RCooper: A Real-world Large-scale Dataset for Roadside Cooperative Perceptioncited by 37
  7. 2023Flow-Based Feature Fusion for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 31
  8. 2023BEVHeight++: Toward Robust Visual Centric 3D Object Detectioncited by 29
  9. 2023InfraDet3D: Multi-Modal 3D Object Detection based on Roadside Infrastructure Camera and LiDAR Sensorscited by 25
  10. 2024Lifting Multi-View Detection and Tracking to the Bird's Eye Viewcited by 25
  11. 2023MonoGAE: Roadside Monocular 3D Object Detection with Ground-Aware Embeddingscited by 20
  12. 20223D Object Detection with a Self-supervised Lidar Scene Flow Backbonecited by 19
28 more
  1. 2024GPT-4V as Traffic Assistant: An In-depth Look at Vision Language Model on Complex Traffic Eventscited by 16
  2. 2024BEVSpread: Spread Voxel Pooling for Bird's-Eye-View Representation in Vision-based Roadside 3D Object Detectioncited by 15
  3. 2024TUMTraf Event: Calibration and Fusion Resulting in a Dataset for Roadside Event-Based and RGB Camerascited by 13
  4. 2024CARLA Drone: Monocular 3D Object Detection from a Different Perspectivecited by 12
  5. 2022Real-Time And Robust 3D Object Detection with Roadside LiDARscited by 9
  6. 2023Pedestrian Behavior Maps for Safety Advisories: CHAMP Framework and Real-World Data Analysiscited by 9
  7. 2023Multi-Task Consistency for Active Learningcited by 9
  8. 2024RoScenes: A Large-scale Multi-view 3D Dataset for Roadside Perceptioncited by 9
  9. 2025R-LiViT: A LiDAR-Visual-Thermal Dataset Enabling Vulnerable Road User Focused Roadside Perceptioncited by 9
  10. 2025Collaborative Perception Datasets for Autonomous Driving: A Reviewcited by 8
  11. 2023A9 Intersection Dataset: All You Need for Urban 3D Camera-LiDAR Roadside Perceptioncited by 4
  12. 2024Collective Perception Datasets for Autonomous Driving: A Comprehensive Reviewcited by 4
  13. 2024Vision Technologies with Applications in Traffic Surveillance Systems: A Holistic Surveycited by 4
  14. 2023Transformation Decoupling Strategy based on Screw Theory for Deterministic Point Cloud Registration with Gravity Priorcited by 3
  15. 2024PointCompress3D: A Point Cloud Compression Framework for Roadside LiDARs in Intelligent Transportation Systemscited by 2
  16. 2024Transfer Learning from Simulated to Real Scenes for Monocular 3D Object Detectioncited by 2
  17. 2025UrbanTwin: Synthetic Roadside LiDAR Datasetscited by 2
  18. 2023Patterns of Vehicle Lights: Addressing Complexities in Curation and Annotation of Camera-Based Vehicle Light Datasets and Metricscited by 1
  19. 2024CORP: A Multi-Modal Dataset for Campus-Oriented Roadside Perception Taskscited by 1
  20. 2024Cooperative Visual-LiDAR Extrinsic Calibration Technology for Intersection Vehicle-Infrastructure: A reviewcited by 1
  21. 2025Enhancing Highway Safety: Accident Detection on the A9 Test Stretch Using Roadside Sensorscited by 1
  22. 2025Safety-Critical Learning for Long-Tail Events: The TUM Traffic Accident Datasetcited by 1
  23. 2025All You Need for Object Detection: From Pixels, Points, and Prompts to Next-Gen Fusion and Multimodal LLMs/VLMs in Autonomous Vehiclescited by 1
  24. 2025Ground Plane Projection for Improved Traffic Analytics at Intersectionscited by 1
  25. 2022Weighted Bayesian Gaussian Mixture Model for Roadside LiDAR Object Detectioncited by 0
  26. 2023Framework for Quality Evaluation of Smart Roadside Infrastructure Sensors for Automated Driving Applicationscited by 0
  27. 2025High-Fidelity Digital Twins for Bridging the Sim2Real Gap in LiDAR-Based ITS Perceptioncited by 0
  28. 2026PMMA: The Polytechnique Montreal Mobility Aids Datasetcited by 0