DOI: 10.57806/9mv146r0
title: Open Sensor Data for Rail 2023

description: The "Open Sensor Data for Rail 2023" (OSDaR23) has been created as part of a joint research project by DZSF (German Centre for Rail Traffic Research at the Federal Railway Authority), Digitale Schiene Deutschland / DB Netz AG, and FusionSystems GmbH. The concluding project report and information about the data labeling taxonomy can be obtained from the DZSF's website. The dataset consists of 45 sequences of annotated multi-sensor data (RGB camera, IR camera, lidar, radar, localization and IMU). Data has been collected from different railway track stretches in Hamburg, Germany.  For more information and relevant links, please refer to the alternate description on FID-move.
description: <!--  
The "Open Sensor Data for Rail 2023" (OSDaR23, 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), Digitale Schiene Deutschland / DB Netz AG, and FusionSystems GmbH. Research report and Labeling Guide can be obtained from the DZSF website.
The dataset consists of 45 sequences of annotated multi-sensor data (RGB camera, IR camera, lidar, radar, localization and IMU). The data has been collected from different railway track stretches in Hamburg, Germany.

If you see this text, Markdown rendering is not working for you.
See the dataset description at https://doi.org/10.57806/9mv146r0 for a rendered version.

-->![data acquisition platform and overview of sequences](https://www.dzsf.bund.de/DZSF/DE/DZSF_Intern/Bilder_FID_Move/osdar23.png?__blob=normal)*Source: own illustration based on images by DB Netz AG*


## Project Info
![DZSF](https://www.dzsf.bund.de/DZSF/DE/DZSF_Intern/Bilder_FID_Move/logo_dzsf.png?__blob=normal) ![Digitale Schiene Deutschland](https://www.dzsf.bund.de/DZSF/DE/DZSF_Intern/Bilder_FID_Move/logo_dsd.png?__blob=normal) ![FusionSystems](https://www.dzsf.bund.de/DZSF/DE/DZSF_Intern/Bilder_FID_Move/logo_fusionsystems.png?__blob=normal)

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.)*

![Vicomtech](https://www.dzsf.bund.de/DZSF/DE/DZSF_Intern/Bilder_FID_Move/logo_vicomtech.png?__blob=normal)



## 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