mlsanityData to 14 Oct 2026

CAROM Air -- Vehicle Localization and Traffic Scene Reconstruction from Aerial Videos

arXiv 2306.00075 ↗First posted 31 May 2023cs.CVcited by 7

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Abstract (arXiv)

Road traffic scene reconstruction from videos has been desirable by road safety regulators, city planners, researchers, and autonomous driving technology developers. However, it is expensive and unnecessary to cover every mile of the road with cameras mounted on the road infrastructure. This paper presents a method that can process aerial videos to vehicle trajectory data so that a traffic scene can be automatically reconstructed and accurately re-simulated using computers. On average, the vehicle localization error is about 0.1 m to 0.3 m using a consumer-grade drone flying at 120 meters. This project also compiles a dataset of 50 reconstructed road traffic scenes from about 100 hours of aerial videos to enable various downstream traffic analysis applications and facilitate further road traffic related research. The dataset is available at https://github.com/duolu/CAROM.

Key facts. Cited by 7 papers in the map (data through 14 Oct 2026). Builds on 19 of its 62 references that are in the map. First posted on arXiv 31 May 2023.

Builds on

19 of 62 references.

References · 19

  1. 2017Mask R-CNNcited by 7,277
  2. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,451
  3. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 732
  4. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 707
  5. 2018The highD Dataset: A Drone Dataset of Naturalistic Vehicle Trajectories on German Highways for Validation of Highly Automated Driving Systemscited by 277
  6. 2019INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Mapscited by 231
  7. 2020RTM3D: Real-time Monocular 3D Detection from Object Keypoints for Autonomous Drivingcited by 150
  8. 2019The inD Dataset: A Drone Dataset of Naturalistic Road User Trajectories at German Intersectionscited by 137
  9. 2019CityFlow: A City-Scale Benchmark for Multi-Target Multi-Camera Vehicle Tracking and Re-Identificationcited by 119
  10. 2021AutoShape: Real-Time Shape-Aware Monocular 3D Object Detectioncited by 87
  11. 2014Viewpoints and Keypointscited by 59
  12. 2021OpenPifPaf: Composite Fields for Semantic Keypoint Detection and Spatio-Temporal Associationcited by 55
7 more
  1. 2022CitySim: A Drone-Based Vehicle Trajectory Dataset for Safety Oriented Research and Digital Twinscited by 43
  2. 2019A Dual-Path Model With Adaptive Attention For Vehicle Re-Identificationcited by 34
  3. 2020openDD: A Large-Scale Roundabout Drone Datasetcited by 29
  4. 2019Providentia -- A Large-Scale Sensor System for the Assistance of Autonomous Vehicles and Its Evaluationcited by 17
  5. 2022Real-time Full-stack Traffic Scene Perception for Autonomous Driving with Roadside Camerascited by 13
  6. 2021CAROM -- Vehicle Localization and Traffic Scene Reconstruction from Monocular Cameras on Road Infrastructurescited by 5
  7. 2020Optimized tour planning for drone-based urban traffic monitoringcited by 2

Built on by

Cited by year

Citing papers per year: 2023: 2; 2024: 3; 2025: 2.

7 papers.

  1. 2024eTraM: Event-based Traffic Monitoring Datasetcited by 24
  2. 2023RiskBench: A Scenario-based Benchmark for Risk Identificationcited by 12
  3. 2025MC-BEVRO: Multi-Camera Bird Eye View Road Occupancy Detection for Traffic Monitoringcited by 2
  4. 2025ATARS: An Aerial Traffic Atomic Activity Recognition and Temporal Segmentation Datasetcited by 2
  5. 2023SKoPe3D: A Synthetic Dataset for Vehicle Keypoint Perception in 3D from Traffic Monitoring Camerascited by 1
  6. 2024Roundabout Dilemma Zone Data Mining and Forecasting with Trajectory Prediction and Graph Neural Networkscited by 0
  7. 2024Querying Perception Streams with Spatial Regular Expressionscited by 0