# I-24 MOTION: An instrument for freeway traffic science

arXiv: https://arxiv.org/abs/2301.11198 · HTML: https://mlsanity.com/paper/2301.11198/

## Key facts

- Cited by 26 papers in the map (data through 14 Oct 2026).
- Builds on 19 of its 121 references that are in the map.
- First posted on arXiv 26 Jan 2023.

## Builds on (most cited first, 19 of 19)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [CenterNet: Keypoint Triplets for Object Detection](https://mlsanity.com/paper/1904.08189/) (2019)
- [The highD Dataset: A Drone Dataset of Naturalistic Vehicle Trajectories on German Highways for Validation of Highly Automated Driving Systems](https://mlsanity.com/paper/1810.05642/) (2018)
- [INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Maps](https://mlsanity.com/paper/1910.03088/) (2019)
- [The inD Dataset: A Drone Dataset of Naturalistic Road User Trajectories at German Intersections](https://mlsanity.com/paper/1911.07602/) (2019)
- [An LSTM Network for Highway Trajectory Prediction](https://mlsanity.com/paper/1801.07962/) (2018)
- [Multi-Modal Trajectory Prediction of Surrounding Vehicles with Maneuver based LSTMs](https://mlsanity.com/paper/1805.05499/) (2018)
- [Dissipation of stop-and-go waves via control of autonomous vehicles: Field experiments](https://mlsanity.com/paper/1705.01693/) (2017)
- [CitySim: A Drone-Based Vehicle Trajectory Dataset for Safety Oriented Research and Digital Twins](https://mlsanity.com/paper/2208.11036/) (2022)
- [openDD: A Large-Scale Roundabout Drone Dataset](https://mlsanity.com/paper/2007.08463/) (2020)
- [BoxCars: Improving Fine-Grained Recognition of Vehicles using 3-D Bounding Boxes in Traffic Surveillance](https://mlsanity.com/paper/1703.00686/) (2017)
- [Injecting Knowledge in Data-driven Vehicle Trajectory Predictors](https://mlsanity.com/paper/2103.04854/) (2021)
- [Towards Full Automated Drive in Urban Environments: A Demonstration in GoMentum Station, California](https://mlsanity.com/paper/1705.01187/) (2017)
- [Online Clustering-based Multi-Camera Vehicle Tracking in Scenarios with overlapping FOVs](https://mlsanity.com/paper/2102.04091/) (2021)
- [Automatic vehicle trajectory data reconstruction at scale](https://mlsanity.com/paper/2212.07907/) (2022)

## Built on by (most cited first, 26 of 26)

- [Advanced computer vision for extracting georeferenced vehicle trajectories from drone imagery](https://mlsanity.com/paper/2411.02136/) (2024)
- [EnduRL: Enhancing Safety, Stability, and Efficiency of Mixed Traffic Under Real-World Perturbations Via Reinforcement Learning](https://mlsanity.com/paper/2311.12261/) (2023)
- [Car-Following Models: A Multidisciplinary Review](https://mlsanity.com/paper/2304.07143/) (2023)
- [CARL: Congestion-Aware Reinforcement Learning for Imitation-based Perturbations in Mixed Traffic Control](https://mlsanity.com/paper/2404.00796/) (2024)
- [So you think you can track?](https://mlsanity.com/paper/2309.07268/) (2023)
- [A Gentle Introduction and Tutorial on Deep Generative Models in Transportation Research](https://mlsanity.com/paper/2410.07066/) (2024)
- [Detecting Socially Abnormal Highway Driving Behaviors via Recurrent Graph Attention Networks](https://mlsanity.com/paper/2304.11513/) (2023)
- [The Interstate-24 3D Dataset: a new benchmark for 3D multi-camera vehicle tracking](https://mlsanity.com/paper/2308.14833/) (2023)
- [Mitigating Metropolitan Carbon Emissions with Dynamic Eco-driving at Scale](https://mlsanity.com/paper/2408.05609/) (2024)
- [UAV-Based Intelligent Traffic Surveillance System: Real-Time Vehicle Detection, Classification, Tracking, and Behavioral Analysis](https://mlsanity.com/paper/2509.04624/) (2025)
- [Learning "Look-Ahead" Nonlocal Traffic Dynamics in a Ring Road](https://mlsanity.com/paper/2312.02770/) (2023)
- [Reinforcement Learning Based Oscillation Dampening: Scaling up Single-Agent RL algorithms to a 100 AV highway field operational test](https://mlsanity.com/paper/2402.17050/) (2024)
- [Discovering Car-following Dynamics from Trajectory Data through Deep Learning](https://mlsanity.com/paper/2408.00251/) (2024)
- [FLUID: A Fine-Grained Lightweight Urban Signalized-Intersection Dataset of Dense Conflict Trajectories](https://mlsanity.com/paper/2509.00497/) (2025)
- [PMA-Diffusion: A Physics-guided Mask-Aware Diffusion Framework for TSE from Sparse Observations](https://mlsanity.com/paper/2512.06183/) (2025)
- [MARVEL: Multi-Agent Reinforcement-Learning for Large-Scale Variable Speed Limits](https://mlsanity.com/paper/2310.12359/) (2023)
- [Highway Congestion Reduction through Reinforcement Learning Based Eulerian Headway Control](https://mlsanity.com/paper/2412.02520/) (2024)
- [Discovering the Precursors of Traffic Breakdowns Using Spatiotemporal Graph Attribution Networks](https://mlsanity.com/paper/2504.17109/) (2025)
- [(U)NFV: Supervised and Unsupervised Neural Finite Volume Methods for Solving Hyperbolic PDEs](https://mlsanity.com/paper/2505.23702/) (2025)
- [Noise-Aware Generative Microscopic Traffic Simulation](https://mlsanity.com/paper/2508.07453/) (2025)
- [Measuring the State of Open Science in Transportation Using Large Language Models](https://mlsanity.com/paper/2601.14429/) (2026)
- [Calibrating Adaptive Smoothing Methods for Freeway Traffic Reconstruction](https://mlsanity.com/paper/2602.02072/) (2026)
- [Refining time-space traffic diagrams: A neighborhood-adaptive linear regression method](https://mlsanity.com/paper/2603.24312/) (2026)
- [Macroscopic Characteristics of Mixed Traffic Flow with Deep Reinforcement Learning Based Automated and Human-Driven Vehicles](https://mlsanity.com/paper/2603.25328/) (2026)
- [LoRFT: Benchmarking Long-Range Vehicle Trajectory Reconstruction from Fixed Highway Cameras](https://mlsanity.com/paper/2607.19911/) (2026)
- [Beyond Lanes: Traffic Flow Dynamics in Disordered Conditions Based on High-Resolution Trajectory Data](https://mlsanity.com/paper/2608.00602/) (2026)

## Abstract (arXiv)

The Interstate-24 MObility Technology Interstate Observation Network (I-24 MOTION) is a new instrument for traffic science located near Nashville, Tennessee. I-24 MOTION consists of 276 pole-mounted high-resolution traffic cameras that provide seamless coverage of approximately 4.2 miles I-24, a 4-5 lane (each direction) freeway with frequently observed congestion. The cameras are connected via fiber optic network to a compute facility where vehicle trajectories are extracted from the video imagery using computer vision techniques. Approximately 230 million vehicle miles of travel occur within I-24 MOTION annually. The main output of the instrument are vehicle trajectory datasets that contain the position of each vehicle on the freeway, as well as other supplementary information vehicle dimensions and class. This article describes the design and creation of the instrument, and provides the first publicly available datasets generated from the instrument. The datasets published with this article contains at least 4 hours of vehicle trajectory data for each of 10 days. As the system continues to mature, all trajectory data will be made publicly available at i24motion.org/data.