mlsanityData to 14 Oct 2026

VTrackIt: A Synthetic Self-Driving Dataset with Infrastructure and Pooled Vehicle Information

arXiv 2207.11146 ↗First posted 15 Jul 2022cs.CV cs.AI cs.LGcited by 1

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Abstract (arXiv)

Artificial intelligence solutions for Autonomous Vehicles (AVs) have been developed using publicly available datasets such as Argoverse, ApolloScape, Level5, and NuScenes. One major limitation of these datasets is the absence of infrastructure and/or pooled vehicle information like lane line type, vehicle speed, traffic signs, and intersections. Such information is necessary and not complementary to eliminating high-risk edge cases. The rapid advancements in Vehicle-to-Infrastructure and Vehicle-to-Vehicle technologies show promise that infrastructure and pooled vehicle information will soon be accessible in near real-time. Taking a leap in the future, we introduce the first comprehensive synthetic dataset with intelligent infrastructure and pooled vehicle information for advancing the next generation of AVs, named VTrackIt. We also introduce the first deep learning model (InfraGAN) for trajectory predictions that considers such information. Our experiments with InfraGAN show that the comprehensive information offered by VTrackIt reduces the number of high-risk edge cases. The VTrackIt dataset is available upon request under the Creative Commons CC BY-NC-SA 4.0 license at http://vtrackit.irda.club.

Key facts. Cited by 1 paper in the map (data through 14 Oct 2026). Builds on 17 of its 80 references that are in the map. First posted on arXiv 15 Jul 2022.

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17 of 80 references.

References · 17

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  2. 2018Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networkscited by 690
  3. 2021KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3Dcited by 575
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  5. 2021AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecastingcited by 331
  6. 2017DESIRE: Distant Future Prediction in Dynamic Scenes with Interacting Agentscited by 310
  7. 2021DenseTNT: End-to-end Trajectory Prediction from Dense Goal Setscited by 295
  8. 2020One Thousand and One Hours: Self-driving Motion Prediction Datasetcited by 240
  9. 2021IntentNet: Learning to Predict Intention from Raw Sensor Datacited by 158
  10. 2019Rules of the Road: Predicting Driving Behavior with a Convolutional Model of Semantic Interactionscited by 117
  11. 2018TrafficPredict: Trajectory Prediction for Heterogeneous Traffic-Agentscited by 111
  12. 2019Spatially-Aware Graph Neural Networks for Relational Behavior Forecasting from Sensor Datacited by 104
5 more
  1. 2018TraPHic: Trajectory Prediction in Dense and Heterogeneous Traffic Using Weighted Interactionscited by 82
  2. 2021KITTI-CARLA: a KITTI-like dataset generated by CARLA Simulatorcited by 34
  3. 2020openDD: A Large-Scale Roundabout Drone Datasetcited by 29
  4. 2021End-to-End Interactive Prediction and Planning with Optical Flow Distillation for Autonomous Drivingcited by 17
  5. 2018Benefits of V2V Communication for Autonomous and Connected Vehiclescited by 3

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Citing papers per year: 2023: 1.

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  1. 2023M3Act: Learning from Synthetic Human Group Activitiescited by 5