News

[10/2021] V2X-Sim 1.0 (LiDAR-based V2V data) used in our DiscoNet paper is released and available for download.

[09/2021] Our work DiscoNet is accepted at NeurIPS 2021.

[08/2021] The extended abstract of V2X-Sim is accepted at ICCV 2021 SEAI Workshop as spotlight presentation.


Urban Scene Simulation


Dataset Features

Multi-Agent Recordings

Well-synchronized recordings from both roadside infrastructure and multiple vehicles at intersections.

LiDAR
Collaborative perception
LiDAR
Front camera of 4 vehicles in scene 6
LiDAR
Camera of infrastructure in scene 6

Multi-Modality Sensors

Multi-modality sensor suite with RGB camera, LiDAR, GNSS, and IMU.

LiDAR
LiDAR
Camera
Camera
GNSS
GNSS
IMU
IMU

Diverse Annotations

Well-annotated camera images and LiDAR frames with 360° coverage.

LiDAR
Semantic segmentation camera
LiDAR
Depth camera
LiDAR
Bounding box on image
LiDAR
Bounding box on LiDAR