prakharbh/CrossViewUrbanTrafficDataset

Cross-View Urban Traffic Dataset

Dataset Summary

The Cross-View Urban Traffic Dataset (CVUTD) is a benchmark for cross-view urban traffic perception built from synchronized ego-centric bicycle videos and aerial drone videos recorded at real urban intersections in Regensburg, Germany.

The dataset is designed to support two linked tasks:

1. Cross-view identity matching between street-view and drone-view object tracks

2. Ego-to-BEV prediction using aerial supervision

The benchmark focuses on intersection-centric traffic analysis, where local interactions, identity preservation, and global spatial structure must be reasoned about jointly across views.

Supported Tasks and Leaderboards

Task 1: Cross-view identity matching

Given synchronized street-view and drone-view object tracks, predict which street-view track corresponds to which drone-view track.

Typical metrics:

• Track Precision / Recall / F1

• ID Precision / Recall / IDF1

• Frame assignment accuracy

• Near/Far breakdown

• Stability

• ID switches

• Consistency

Task 2: Ego-to-BEV prediction

Given an ego-centric street-view image or sequence, predict the spatial arrangement of traffic participants in a shared bird’s-eye-view frame.

Typical metrics:

• ADE

• FDE

• ALE

• ALgE

• PCK@1m / PCK@2m

• mIoU / IoU@thresholds

Languages

This dataset is primarily visual and geometric. Language metadata is included only for the English documentation and labels.

Dataset Structure

A typical scene contains:

• synchronized street-view video

• synchronized drone-view video

• street-view detection/tracking CSV

• drone-view detection/tracking CSV

• verified cross-view correspondences

• processed wedge-filtered matching artifacts

• alignment metadata for BEV evaluation

Example structure:

CrossViewUrbanTrafficDataset/

  README.md

  LICENSE

  scene_manifest.csv (found on github)

  scenes/

    scene_01_01/

      street_video.mp4

      drone_video.mp4

      street_detections.csv

      drone_detections.csv

      gt_pairs.csv

      gt_audit.csv

      outputs/

        wedge_export/

          street_wedge_manifest.csv

          drone_wedge_manifest.csv

          frame_matches.csv

          track_mapping.csv