mlsanityData to 7 Oct 2026

SIND: A Drone Dataset at Signalized Intersection in China

arXiv 2209.02297 ↗First posted 6 Sep 2022cs.CV cs.GLcited by 29

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Abstract (arXiv)

Intersection is one of the most challenging scenarios for autonomous driving tasks. Due to the complexity and stochasticity, essential applications (e.g., behavior modeling, motion prediction, safety validation, etc.) at intersections rely heavily on data-driven techniques. Thus, there is an intense demand for trajectory datasets of traffic participants (TPs) in intersections. Currently, most intersections in urban areas are equipped with traffic lights. However, there is not yet a large-scale, high-quality, publicly available trajectory dataset for signalized intersections. Therefore, in this paper, a typical two-phase signalized intersection is selected in Tianjin, China. Besides, a pipeline is designed to construct a Signalized INtersection Dataset (SIND), which contains 7 hours of recording including over 13,000 TPs with 7 types. Then, the behaviors of traffic light violations in SIND are recorded. Furthermore, the SIND is also compared with other similar works. The features of the SIND can be summarized as follows: 1) SIND provides more comprehensive information, including traffic light states, motion parameters, High Definition (HD) map, etc. 2) The category of TPs is diverse and characteristic, where the proportion of vulnerable road users (VRUs) is up to 62.6% 3) Multiple traffic light violations of non-motor vehicles are shown. We believe that SIND would be an effective supplement to existing datasets and can promote related research on autonomous driving.The dataset is available online via: https://github.com/SOTIF-AVLab/SinD

Key facts. Cited by 29 papers in the map (data through 7 Oct 2026). Builds on 17 of its 43 references that are in the map. First posted on arXiv 6 Sep 2022.

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17 of 43 references.

References · 17

  1. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 728
  2. 2021Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Datasetcited by 532
  3. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 528
  4. 2020Learning Lane Graph Representations for Motion Forecastingcited by 380
  5. 2020TNT: Target-driveN Trajectory Predictioncited by 345
  6. 2020One Thousand and One Hours: Self-driving Motion Prediction Datasetcited by 239
  7. 2019INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Mapscited by 231
  8. 2019The inD Dataset: A Drone Dataset of Naturalistic Road User Trajectories at German Intersectionscited by 137
  9. 2021Shifts: A Dataset of Real Distributional Shift Across Multiple Large-Scale Taskscited by 100
  10. 2019Urban Driving with Conditional Imitation Learningcited by 84
  11. 2020openDD: A Large-Scale Roundabout Drone Datasetcited by 29
  12. 20206-Layer Model for a Structured Description and Categorization of Urban Traffic and Environmentcited by 26
5 more
  1. 2019Intention-aware Long Horizon Trajectory Prediction of Surrounding Vehicles using Dual LSTM Networkscited by 22
  2. 2021Autonomous Driving Strategies at Intersections: Scenarios, State-of-the-Art, and Future Outlookscited by 15
  3. 2020Vehicle Position Estimation with Aerial Imagery from Unmanned Aerial Vehiclescited by 3
  4. 2020Accuracy Characterization of the Vehicle State Estimation from Aerial Imagerycited by 1
  5. 2021A hierarchical behavior prediction framework at signalized intersectionscited by 1

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Citing papers per year: 2023: 5; 2024: 6; 2025: 12; 2026: 6.

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  1. 2023Choose Your Simulator Wisely: A Review on Open-source Simulators for Autonomous Drivingcited by 26
  2. 2025Highly Accurate and Diverse Traffic Data: The DeepScenario Open 3D Datasetcited by 7
  3. 2025PDB: Not All Drivers Are the Same -- A Personalized Dataset for Understanding Driving Behaviorcited by 6
  4. 2023Self-Aware Trajectory Prediction for Safe Autonomous Drivingcited by 5
  5. 2023Failure Detection for Motion Prediction of Autonomous Driving: An Uncertainty Perspectivecited by 4
  6. 2024KI-GAN: Knowledge-Informed Generative Adversarial Networks for Enhanced Multi-Vehicle Trajectory Forecasting at Signalized Intersectionscited by 4
  7. 2023How Does Traffic Environment Quantitatively Affect the Autonomous Driving Prediction?cited by 3
  8. 2025OnSiteVRU: A High-Resolution Trajectory Dataset for High-Density Vulnerable Road Userscited by 3
  9. 2024Toward Unified Practices in Trajectory Prediction Research on Bird's-Eye-View Datasetscited by 2
  10. 2024Investigating Personalized Driving Behaviors in Dilemma Zones: Analysis and Prediction of Stop-or-Go Decisionscited by 2
  11. 2024Generation of Training Data from HD Maps in the Lanelet2 Frameworkcited by 2
  12. 2025Knowledge-Informed Multi-Agent Trajectory Prediction at Signalized Intersections for Infrastructure-to-Everythingcited by 2
17 more
  1. 2025ATARS: An Aerial Traffic Atomic Activity Recognition and Temporal Segmentation Datasetcited by 2
  2. 2024Pedestrian Motion Prediction Using Transformer-based Behavior Clustering and Data-Driven Reachability Analysiscited by 1
  3. 2025DRIFT open dataset: A drone-derived intelligence for traffic analysis in urban environmentcited by 1
  4. 2025RISEE: A Highly Interactive Naturalistic Driving Trajectories Dataset with Human Subjective Risk Perception and Eye-tracking Informationcited by 1
  5. 2025FLUID: A Fine-Grained Lightweight Urban Signalized-Intersection Dataset of Dense Conflict Trajectoriescited by 1
  6. 2026HetroD: A High-Fidelity Drone Dataset and Benchmark for Autonomous Driving in Heterogeneous Trafficcited by 1
  7. 2023Human-Like Implicit Intention Expression for Autonomous Driving Motion Planning: A Method Based on Learning Human Intention Priorscited by 0
  8. 2024Towards Safe and Reliable Autonomous Driving: Dynamic Occupancy Set Predictioncited by 0
  9. 2025Towards Developing Socially Compliant Automated Vehicles: Advances, Expert Insights, and A Conceptual Frameworkcited by 0
  10. 2025PPTNet: A Hybrid Periodic Pattern-Transformer Architecture for Traffic Flow Prediction and Congestion Identificationcited by 0
  11. 2025City-Conditioned Memory for Multi-City Traffic and Mobility Forecastingcited by 0
  12. 2025R3ST: A Synthetic 3D Dataset With Realistic Trajectoriescited by 0
  13. 2026VISTA-DZ: Visual Semantic Trajectory Adaptation for Personalized Dilemma Zone Predictioncited by 0
  14. 2026Unveiling Transferability in Trajectory Prediction via Latent Scene Embeddingscited by 0
  15. 2026A Review of Vision-Based Vehicle Detection for UAV-Based Traffic Monitoring: Experimental Insights and Future Directionscited by 0
  16. 2026SkyDrive: Learning to Drive in a New City from Aerial Traffic Monitoringcited by 0
  17. 2026Driver Behavior Estimation at Signalized Intersections Using a Physics-Constrained Decision-Conditioned Autoregressive Transformercited by 0