# OnSiteVRU: A High-Resolution Trajectory Dataset for High-Density Vulnerable Road Users

arXiv: https://arxiv.org/abs/2503.23365 · HTML: https://mlsanity.com/paper/2503.23365/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 7 of its 16 references that are in the map.
- First posted on arXiv 30 Mar 2025.

## Builds on (most cited first, 7 of 7)

- [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)
- [The inD Dataset: A Drone Dataset of Naturalistic Road User Trajectories at German Intersections](https://mlsanity.com/paper/1911.07602/) (2019)
- [V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecasting](https://mlsanity.com/paper/2305.05938/) (2023)
- [SIND: A Drone Dataset at Signalized Intersection in China](https://mlsanity.com/paper/2209.02297/) (2022)
- [Top-view Trajectories: A Pedestrian Dataset of Vehicle-Crowd Interaction from Controlled Experiments and Crowded Campus](https://mlsanity.com/paper/1902.00487/) (2019)
- [IDD-X: A Multi-View Dataset for Ego-relative Important Object Localization and Explanation in Dense and Unstructured Traffic](https://mlsanity.com/paper/2404.08561/) (2024)
- [Extraction of Road Users' Behavior From Realistic Data According to Assumptions in Safety-Related Models for Automated Driving Systems](https://mlsanity.com/paper/2307.16530/) (2023)

## Built on by (most cited first, 3 of 3)

- [A knowledge-augmented dataset of high-risk driving scenarios with LLM annotations for autonomous driving](https://mlsanity.com/paper/2607.07103/) (2026)
- [HanoiWorld : A Joint Embedding Predictive Architecture BasedWorld Model for Autonomous Vehicle Controller](https://mlsanity.com/paper/2601.01577/) (2026)
- [A Pedestrian-Vehicle Interaction Benchmark and Annotation Framework for Unstructured Scenes via Uncalibrated Cameras](https://mlsanity.com/paper/2605.25947/) (2026)

## Abstract (arXiv)

With the acceleration of urbanization and the growth of transportation demands, the safety of vulnerable road users (VRUs, such as pedestrians and cyclists) in mixed traffic flows has become increasingly prominent, necessitating high-precision and diverse trajectory data to support the development and optimization of autonomous driving systems. However, existing datasets fall short in capturing the diversity and dynamics of VRU behaviors, making it difficult to meet the research demands of complex traffic environments. To address this gap, this study developed the OnSiteVRU datasets, which cover a variety of scenarios, including intersections, road segments, and urban villages. These datasets provide trajectory data for motor vehicles, electric bicycles, and human-powered bicycles, totaling approximately 17,429 trajectories with a precision of 0.04 seconds. The datasets integrate both aerial-view natural driving data and onboard real-time dynamic detection data, along with environmental information such as traffic signals, obstacles, and real-time maps, enabling a comprehensive reconstruction of interaction events. The results demonstrate that VRUData outperforms traditional datasets in terms of VRU density and scene coverage, offering a more comprehensive representation of VRU behavioral characteristics. This provides critical support for traffic flow modeling, trajectory prediction, and autonomous driving virtual testing. The dataset is publicly available for download at: https://www.kaggle.com/datasets/zcyan2/mixed-traffic-trajectory-dataset-in-from-shanghai.