Open Sensor Data for Rail 2023

*Source: own illustration based on images by DB Netz AG* ## Project Info    The "Open Sensor Data for Rail 2023" (OSDaR23, [10.57806/9mv146r0](https://doi.org/10.57806/9mv146r0)) has been created in a joint research project by the [German Centre for Rail Traffic Research at the Federal Railway Authority (DZSF)](https://www.dzsf.bund.de), [Digitale Schiene Deutschland / DB Netz AG](http://digitale-schiene-deutschland.de), and [FusionSystems GmbH](https://www.fusionsystems.de). Research report and Labeling Guide can be obtained from the [DZSF website](https://www.dzsf.bund.de/SharedDocs/Standardartikel/DZSF/Projekte/Projekt_70_Reale_Datensaetze.html). The data set consists of 45 sequences of annotated multi-sensor data (color camera, infrared camera, lidar, radar, localization, IMU). Data have been collected on different railway tracks in Hamburg, Germany. ## License Info The "Open Sensor Data for Rail 2023" (OSDaR23, [10.57806/9mv146r0](https://doi.org/10.57806/9mv146r0)) is published by the [German Centre for Rail Traffic Research at the Federal Railway Authority (DZSF)](https://www.dzsf.bund.de). Annotation data (file type `.json`) are published under [CC0 1.0](https://creativecommons.org/publicdomain/zero/1.0/legalcode). Sensor data (file types `.png`, `.pcd`, and `.csv`) are published under [CC BY-SA 3.0 de](https://creativecommons.org/licenses/by-sa/3.0/de/legalcode). ## Further Info The data set can be used in Python with the [RailLabel](https://github.com/DSD-DBS/raillabel) package published by DB Netz AG. The data set can be viewed, for example, with the [WebLabel Player](https://github.com/Vicomtech/weblabel) published by [Vicomtech Research Foundation](https://www.vicomtech.org/en/). *(Disclaimer: Vicomtech was not part of the research project and there are currently no further relationships between DZSF and Vicomtech.)*  ## Statistics Number of Multisensor-Frames: `1534` Statistic of annotation objects: object class number of annotations ------------------ --------------------- person 73 421 crowd 1 352 train 8 290 wagons 110 bicycle 1 779 group of bicycles 644 motorcycle 14 road vehicle 12 669 animal 3 288 group of animals 0 wheelchair 0 drag shoe 79 track 18 543 transition 636 switch 2 947 catenary pole 27 706 signal pole 14 374 signal 32 790 signal bridge 312 buffer stop 4 539 flame 410 smoke 188 ------------------ --------------------- total 204 091

*来源：基于德国铁路网络股份公司（DB Netz AG）的图像自制插图*

  

## 项目信息
铁路开放传感器数据集2023（Open Sensor Data for Rail 2023，缩写OSDaR23，DOI：[10.57806/9mv146r0](https://doi.org/10.57806/9mv146r0)）由德国联邦铁路局铁路交通研究中心（German Centre for Rail Traffic Research at the Federal Railway Authority，缩写DZSF）、德国数字化铁路计划/德国铁路网络股份公司（DB Netz AG）以及FusionSystems股份有限公司联合研发项目中产出。
研究报告与标注指南可通过[DZSF官方网站](https://www.dzsf.bund.de/SharedDocs/Standardartikel/DZSF/Projekte/Projekt_70_Reale_Datensaetze.html)获取。
本数据集包含45段带标注的多传感器数据序列，涵盖彩色相机、红外相机、激光雷达（Light Detection and Ranging，LiDAR）、雷达、定位系统以及惯性测量单元（Inertial Measurement Unit，IMU）。数据采集于德国汉堡的多条铁路线路上。

## 授权许可信息
铁路开放传感器数据集2023（OSDaR23，DOI：10.57806/9mv146r0）由德国联邦铁路局铁路交通研究中心（DZSF）发布。
标注数据（文件格式为`.json`）采用[CC0 1.0通用公共领域贡献协议](https://creativecommons.org/publicdomain/zero/1.0/legalcode)发布；传感器数据（文件格式包括`.png`、`.pcd`及`.csv`）采用[CC BY-SA 3.0德国本地化协议](https://creativecommons.org/licenses/by-sa/3.0/de/legalcode)发布。

## 补充说明
本数据集可通过德国铁路网络股份公司（DB Netz AG）发布的[RailLabel](https://github.com/DSD-DBS/raillabel)工具包在Python环境中调用使用。此外，可通过Vicomtech研究基金会发布的[WebLabel播放器](https://github.com/Vicomtech/weblabel)对数据集进行可视化查看。
*免责声明：Vicomtech未参与本研发项目，且目前DZSF与Vicomtech无其他合作关系。*

## 统计信息
多传感器帧总数：`1534`
标注对象统计：
标注对象类别 标注数量
------------------ ---------------------
人员 73421
人群 1352
列车 8290
车厢 110
自行车 1779
自行车群组 644
摩托车 14
道路车辆 12669
动物 3288
动物群组 0
轮椅 0
牵引滑靴 79
轨道 18543
线路过渡段 636
道岔 2947
接触网杆 27706
信号杆 14374
信号机 32790
信号天桥 312
挡车器 4539
火焰 410
烟雾 188
------------------ ---------------------
总计 204091