V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecasting

Haibao Yu; Wenxian Yang; Hongzhi Ruan; Zhenwei Yang; Yingjuan Tang; Xu Gao; Xin Hao; Yifeng Shi; Yifeng Pan; Ning Sun; Juan Song; Jirui Yuan; Ping Luo; Zaiqing Nie

arXiv · 2305.05938

V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecasting

Haibao Yu·Wenxian Yang·Hongzhi Ruan·Zhenwei Yang·Yingjuan Tang·Xu Gao·Xin Hao·Yifeng Shi·Yifeng Pan·Ning Sun·Juan Song·Jirui Yuan·Ping Luo·Zaiqing Nie

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Abstract

Utilizing infrastructure and vehicle-side information to track and forecast the behaviors of surrounding traffic participants can significantly improve decision-making and safety in autonomous driving. However, the lack of real-world sequential datasets limits research in this area. To address this issue, we introduce V2X-Seq, the first large-scale sequential V2X dataset, which includes data frames, trajectories, vector maps, and traffic lights captured from natural scenery. V2X-Seq comprises two parts: the sequential perception dataset, which includes more than 15,000 frames captured from 95 scenarios, and the trajectory forecasting dataset, which contains about 80,000 infrastructure-view scenarios, 80,000 vehicle-view scenarios, and 50,000 cooperative-view scenarios captured from 28 intersections' areas, covering 672 hours of data. Based on V2X-Seq, we introduce three new tasks for vehicle-infrastructure cooperative (VIC) autonomous driving: VIC3D Tracking, Online-VIC Forecasting, and Offline-VIC Forecasting. We also provide benchmarks for the introduced tasks. Find data, code, and more up-to-date information at \href{https://github.com/AIR-THU/DAIR-V2X-Seq}{https://github.com/AIR-THU/DAIR-V2X-Seq}.

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Haibao Yu, Wenxian Yang, Hongzhi Ruan, Zhenwei Yang, Yingjuan Tang, Xu Gao, Xin Hao, Yifeng Shi, Yifeng Pan, Ning Sun, Juan Song, Jirui Yuan, Ping Luo, Zaiqing Nie. 2023-05-10. V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecasting. https://arxiv.org/abs/2305.05938

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