DOI: 10.21949/rdvr-jf73
title: Perception-Based Adaptive Traffic Management and Data Sharing [supporting dataset]

description: National Transportation Library (NTL) Curation Note: This dataset has been curated to CoreTrustSeal's curation level "A. Active Preservation". To find out more information on CoreTrustSeal's curation levels, please consult their "Curation & Preservation Levels" CoreTrustSeal Discussion Paper" (https://doi.org/10.5281/zenodo.11476980). NTL staff last accessed this dataset at its repository URL on 2025-06-10. If, in the future, you have trouble accessing this dataset, please email NTLDataCurator@dot.gov describing your problem. NTL staff will do its best to assist you at that time.

Data Management Plan Note: This dataset's Data Management Plan (DMP) is also available on the DMPTool here: https://doi.org/10.48321/D16F3FD7E1

The dataset is also made available on the National Renewable Energy Laboratory Data Catalog here: https://data.nrel.gov/submissions/287
description: The data set provided here was collected as a part of the US Department of Transportation (USDOT) Strengthening Mobility and Revolutionizing Transportation (SMART) project, where the City of Colorado Springs (Colorado, USA) and National Renewable Energy Laboratory (NREL) collaborated to collect object-level trajectory data from road users using multiple types of infrastructure sensors deployed at different traffic intersections. The data was collected in 2024 across multiple days at various intersections in and around the City of Colorado Springs. The goal of the data collection exercises was to learn various attributes about infrastructure sensors and to build a repository of high-resolution object-level data that can be used for research and development (such as for developing multi-sensor data fusion algorithms).

Data presented here was collected from sensors either installed either on the traffic poles or hoisted on top of NREL’s Infrastructure Perception and Control (IPC) mobile trailer. The state-of-the-art IPC trailer can deploy the latest generation of perception sensors at traffic intersections and capture real-time road user data. Sensors used for data collection include Econolite’s EVO RADAR units, Ouster’s OS1 LIDAR units and Axis Camera units. The raw data received from individual sensors is processed at the edge computer device located inside the IPC mobile Lab, and the resulting object-level data is then stored and processed offline. Each data folder contains all the data collected on the day. We have transformed (rotation then translation) raw detections to ensure the data from all sensors is represented in the same cartesian coordinate system. The object list attributes impacted from the transformation are PositionX, PositionY, SpeedX, SpeedY and HeadingDeg. The rest of the data attribute remains untouched. Users should note that we do not claim that this transformation is perfect and there may be some misalignment among the different sensors.

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