diff --git a/.gitattributes b/.gitattributes index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..2b7cf3d5ae45e97a892d39185943cfd0e1da06f1 100644 --- a/.gitattributes +++ b/.gitattributes @@ -58,3 +58,7 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text # Video files - compressed *.mp4 filter=lfs diff=lfs merge=lfs -text *.webm filter=lfs diff=lfs merge=lfs -text +*.las filter=lfs diff=lfs merge=lfs -text +*.ply filter=lfs diff=lfs merge=lfs -text +*.rad filter=lfs diff=lfs merge=lfs -text +*.rrhd filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..45ec3e16e0408087fb41946d4bab600429f8b98c --- /dev/null +++ b/README.md @@ -0,0 +1,339 @@ +--- +license: cc-by-4.0 +pretty_name: Hard Intersection Multimodal Samples +language: + - en +size_categories: + - 1k + camera4 + camera0 + camera1 + + +- The dataset combines: + - Six synchronized camera views + - Two synchronized camera views + - Trajectory data + - HD maps (OpenDRIVE/RoadRunner/Lanelet2/Vissim) + - Semantic annotations + - point cloud data + - 3DGS reconstruction assets +--- + + +### Key Features +- Focused on high-risk real-world intersection +- Multi-domain support: + - sensor domain + - map domain + - semantic projection domain + - reconstruction domain + - 360-degree coverage with six cameras + - Developer-friendly formats: OpenDRIVE/RoadRunner/Lanelet2/Vissim + - LAS point clouds + +--- + +### Modalities +#### Raw / Primary Data +- Six synchronized camera images (Camera0–Camera5) +- Two synchronized camera images (Camera_1,_+15deg/Camera_2,_+15deg) +- Point cloud data +- Trajectory data + +#### Derived assets +- HD maps (OpenDRIVE/RoadRunner/Lanelet2/Vissim) +- Semantic image labels +- Semantic point clouds with labels +- 3DGS reconstruction assets +--- + +### Camera Setup +- Six synchronized cameras (Camera0–Camera5) +- Full 360-degree coverage + +- Two synchronized cameras (`Camera_1,_+15deg/Camera_2,_+15deg`) + +- The file naming convention is `{folder}_{record_name}_{date}_{hhmmssmmm}_Camera_{number}` +- Camera0 is the front view, Camera1 is the front-right view, Camera2 is the rear-right view, Camera3 is the rear-left view, Camera4 is the front-left view, and Camera5 is the top view. +- Additionally, for the two synchronized cameras: `Camera_1,_+15deg` represents the front view, and `Camera_2,_+15deg` represents the rear-right view. +- Although the filename includes “+15deg,” it does not mean that the camera is installed in that direction. + +- calibration/images.txt: extrinsic parameters (camera poses for each image) +- calibration/cameras.txt: intrinsic parameters (camera model and intrinsics) +- In cameras.txt, for the PINHOLE model, PARAMS[] corresponds to: fx, fy, cx, cy. + +--- + +### Trajectory Data +- The file naming convention is `{folder}_{record_name}_{date}` +- The dataset includes recordings in the following order of 26047_Record004, 26047_Record050, 26047a_Record004, and 26047a_Record084. +- The trajectory data is defined in EPSG:6677. + +--- +### HD Map Formats +![hdmap](assets/lanelet2.png) +The HD map is provided in the format shown below. +- **OpenDRIVE(Ver1.4/1.6/1.8)** +- **RoadRunner HD Map** +- **Lanelet2** +- **Vissim** + +--- + +### Point Cloud Data +- Provided in LAS format +- Multi-run aggregated (not single-frame LiDAR) +- The point cloud data (.las) is defined in EPSG:6677, with elevations given as orthometric heights (above sea level). + +- Use cases: + - Map-aligned geometry + - Semantic projection base + - Reconstruction workflows +--- + +### Semantic Annotations +- Semantic Image: COCO JSON format +- The semantic information of the image data and the corresponding images to which the information is assigned are defined in the COCO JSON format. +
+ semantic_camera4 + semantic_camera0 + semantic_camera1 +
+ +- Semantic Point Cloud: point-wise (LiDAR) +![semantic_pointcloud](assets/semantic_point_cloud_data.png) +- The semantic information of the Semantic Point Cloud is stored in the UserData field of the LAS format, as specified in the table below. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
ItemCode
road_surface11
traffic_island12
solid_white_line21
dashed_white_line22
solid_yellow_line23
dashed_yellow_line24
double_line25
straight_arrow31
left_arrow32
right_arrow33
left_and_straight_arrow34
right_and_straight_arrow35
pedestrian_crossing41
stop_bar42
traffic_calming_strip43
bus44
vertical_two_traffic_light51
horizontal_three_traffic_light52
horizontal_four_traffic_light53
wrong_way61
interstate_route62
other_blue63
other71
+ +- These annotations are assigned based on HD Map attributes, and objects not defined in the HD Map, such as vehicles, are not annotated. + +--- +### 3DGS and Reconstruction Assets +- 3DGS assets are included as reconstruction-oriented scene representations. +- These assets are intended for scene reconstruction, scene visualization, synthetic data preparation, simulation-oriented environment understanding, and map-aligned scene asset generation. +- 3DGS assets are defined in the same coordinate system as the point cloud data. +- Data Collection Constraints: Constructed clean, static data by completely filtering out dynamic objects from highly congested public roads with constant vehicle and pedestrian traffic. +- Environmental Complexity: Accurately reproduced the geometry of complex, dynamic environments—where standard 3DGS generation typically fails—by integrating high-precision LiDAR point clouds captured for HDMap creation. +- System Scale: Scaled beyond single objects to cover large-scale road networks through an integrated image and point cloud pipeline. Furthermore, when paired with our HDMap data, it functions as a "Metric 3DGS" capable of precise real-world physical dimensions and positioning. + +![3dgs](assets/3dgs.png) +[Please refer to the following viewer for 3DGS assets.](https://huggingface.co/spaces/dynamic-maps/hard-intersection-3dgs-sample) + +--- +## Dataset Structure +```text +Dataset +├─annotation +│ ├─semantic_images +│ └─semantic_pointcloud +├─calibration +├─images +├─maps +│ ├─lanelet2 +│ ├─opendrive +│ ├─roadrunnerhdmap +│ └─vissim +│ └─images +├─pointcloud +├─reconstruction +└─trajectory +``` +--- + +## Intended Uses +- multi-camera perception research +- map-aware perception +- semantic segmentation +- map projection workflows +- difficult-scene localization +- trajectory analysis +- point cloud semantic research +- panorama-based perception research +- reconstruction and 3D scene asset research +- synthetic data or simulation preparation workflows + +--- + +## Social Impact of Dataset + - It is expected that an increase in the volume of this dataset will contribute to the following: Improvement of autonomous driving technology. + - Reduction in storage capacity through the elimination of duplicate datasets. + + +## Limitations +- Limited to 1 intersection (not large-scale coverage) +- LAS is aggregated multi-run data +- Representation differences across formats +- Images have been processed to protect personal information: faces have been mosaicked, and license plates have been masked as much as possible, although the masking may not be complete. Users may contact us if additional anonymization is required. +- The semantic images are not provided for all images. Users may contact us if additional annotation is required. + +--- + +## Difficulty Tags +- occlusion_heavy +- dense_traffic +- complex_lane_topology +- multi_phase_signal +- unprotected_turn + +--- + +## Citation +```bibtex +@dataset{hard_intersection_multimodal_samples_2026, + title={Hard Intersection Multimodal Samples}, + author={Dynamic Map Platform Co., Ltd.}, + year={2026}, + publisher={Hugging Face} +} +``` + +## Acknowledgements / Attribution +This dataset was generated using several open-source models and libraries. We gratefully acknowledge the contributions of the original authors. + +### Models +- **Grounding DINO** + Liu et al., IDEA-Research, ECCV 2024 + License: Apache License 2.0 + https://github.com/IDEA-Research/GroundingDINO + +- **OneFormer** + Jain et al., SHI-Labs, CVPR 2023 + License: MIT License + https://github.com/SHI-Labs/OneFormer + +- **ViTMatte** + Yao et al., HUST Vision Lab, Information Fusion 2024 + License: Apache License 2.0 + https://github.com/hustvl/ViTMatte + +### Pretrained Models +- **Grounding DINO Base** + IDEA-Research + License: Apache License 2.0 + https://huggingface.co/IDEA-Research/grounding-dino-base + +- **OneFormer Cityscapes Swin-L** + SHI-Labs + License: MIT License + https://huggingface.co/shi-labs/oneformer_cityscapes_swin_large + +- **ViTMatte Base (Distinctions-646)** + HUST Vision Lab + License: Apache License 2.0 + https://huggingface.co/hustvl/vitmatte-base-distinctions-646 + +### 3D Gaussian Splatting Libraries +- **gsplat** + Ye, Li et al., UC Berkeley / Nerfstudio, JMLR 2025 + License: Apache License 2.0 + https://github.com/nerfstudio-project/gsplat + +- **Splatfacto-W** + Xu et al., UC Berkeley / ShanghaiTech, arXiv 2024 + License: Apache License 2.0 + https://github.com/KevinXu02/splatfacto-wyy + +--- + +This dataset contains **only derived data outputs** generated using the above tools. +No original model weights or source code are redistributed. + +All rights and licenses of the original works remain with their respective authors. + +### Redistribution Notice + +This repository distributes dataset artifacts only. +It does NOT include: +- source code of the above models +- pretrained model weights +- third-party libraries + +Users must obtain those components separately from their original sources and comply with their respective licenses. + +## Feedback/Contact +- Feedback is optional, but very welcome. +- Contact: opensource@dynamic-maps.co.jp \ No newline at end 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WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 33 +1 PINHOLE 4112 3008 2298.003152150404 2298.003152150404 1997.494 1480.124 +2 PINHOLE 4104 2992 2295.5568818157526 2295.5568818157526 2040.359 1493.427 +3 PINHOLE 2048 2464 942.9103885 942.9103885 1012.480064 1212.360282 +4 PINHOLE 2048 2464 947.0767 947.0767 1013.168386 1216.460255 +5 PINHOLE 2048 2464 936.8167592 936.8167592 1023.238171 1222.381327 +6 PINHOLE 2048 2464 944.0099983 944.0099983 1017.279371 1202.426403 +7 PINHOLE 2048 2464 941.644451 941.644451 1014.61384 1215.855179 +8 PINHOLE 2048 2464 944.8994954 944.8994954 1015.86222 1245.573087 +9 PINHOLE 4112 3008 2298.003152150404 2298.003152150404 1997.494 1480.124 +10 PINHOLE 4104 2992 2295.5568818157526 2295.5568818157526 2040.359 1493.427 +11 PINHOLE 2048 2464 942.9103885 942.9103885 1012.480064 1212.360282 +12 PINHOLE 2048 2464 947.0767 947.0767 1013.168386 1216.460255 +13 PINHOLE 2048 2464 936.8167592 936.8167592 1023.238171 1222.381327 +14 PINHOLE 2048 2464 944.0099983 944.0099983 1017.279371 1202.426403 +15 PINHOLE 2048 2464 941.644451 941.644451 1014.61384 1215.855179 +16 PINHOLE 2048 2464 944.8994954 944.8994954 1015.86222 1245.573087 +17 PINHOLE 4112 3008 2298.003152150404 2298.003152150404 1997.494 1480.124 +18 PINHOLE 4104 2992 2295.5568818157526 2295.5568818157526 2040.359 1493.427 +19 PINHOLE 2048 2464 942.9103885 942.9103885 1012.480064 1212.360282 +20 PINHOLE 2048 2464 947.0767 947.0767 1013.168386 1216.460255 +21 PINHOLE 2048 2464 936.8167592 936.8167592 1023.238171 1222.381327 +22 PINHOLE 2048 2464 944.0099983 944.0099983 1017.279371 1202.426403 +23 PINHOLE 2048 2464 941.644451 941.644451 1014.61384 1215.855179 +24 PINHOLE 2048 2464 944.8994954 944.8994954 1015.86222 1245.573087 +25 PINHOLE 4112 3008 2298.003152150404 2298.003152150404 1997.494 1480.124 +26 PINHOLE 4104 2992 2295.5568818157526 2295.5568818157526 2040.359 1493.427 +27 PINHOLE 2048 2464 942.9103885 942.9103885 1012.480064 1212.360282 +28 PINHOLE 2048 2464 947.0767 947.0767 1013.168386 1216.460255 +29 PINHOLE 2048 2464 936.8167592 936.8167592 1023.238171 1222.381327 +30 PINHOLE 2048 2464 944.0099983 944.0099983 1017.279371 1202.426403 +31 PINHOLE 2048 2464 941.644451 941.644451 1014.61384 1215.855179 +32 PINHOLE 2048 2464 944.8994954 944.8994954 1015.86222 1245.573087 diff --git a/calibration/images.txt b/calibration/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..f93350982287cfe1d29cfc93ae1ea95f82469a8d --- /dev/null +++ b/calibration/images.txt @@ -0,0 +1,898 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +80 -0.03500771857066321 -0.042140754210753514 -0.6822095072989733 0.7291013678672659 -4791.131202697871 -2629.972891767971 -41428.63775941003 1 26047_Record004_260217_002054031_Camera_1,_+15deg.jpg +81 -0.036416796971811986 -0.04374978484515701 -0.6823605783125221 0.7287961404873908 -4613.896627441842 -2603.481159380001 -41455.01640789224 1 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