Experimental dataset of video and radar detection for cooperative perception in urban environment

This repository contains a dataset that combines radar and camera-based object detection data collected in a vehicular context as well as Collective Perception Messages (CPMs) created from the collected sensor data. For this dataset, a Smart Lamp Post located near a crosswalk on a four-lane road—a high-traffic entry/exit point in Aveiro—was used (figure below). Data collection was carried out continuously for 72 hours, encompassing two weekend days and one weekday to reflect different traffic densities and patterns.本仓库包含一款融合车载场景下采集的雷达与相机目标检测数据，以及由所采集传感器数据生成的集体感知消息（Collective Perception Messages，CPMs）的数据集。 本数据集采用位于阿威罗某四车道道路人行横道附近的智能路灯（Smart Lamp Post）开展数据采集，该区域为高流量进出节点（详见下图）。数据采集连续进行72小时，涵盖两个周末与一个工作日，以覆盖不同的交通密度与交通模式。