DriveInfra60 Dataset

This dataset is a part of the paper published in IEEE Conference on Intelligent Vehicles 2026 (IV26), "A Zero-Shot Annotation-Free Framework for Efficient Monocular 3D Object Localization in Infrastructure Camera Systems." DriveInfra60 is a 60-minute multi-view dataset for infrastructure-based 3D perception, recorded on a closed test track with eight synchronized, calibrated RGB cameras (1920×1080) and centimeter-accurate GNSS+RTK ground-truth vehicle trajectories. It captures dynamic, high-speed maneuvers across vehicles ranging from city cars to minivans, totaling 480 minutes of multi-view video, and is designed to support research in monocular 3D localization, multi-view fusion, and roadside perception.