## 1 Introduction  
The urban landscape is undergoing a significant transformation influenced by the increasing integration of mobile vehicles, last-mile delivery services, micro-mobility solutions, and advanced technologies poised to reshape urban mobility. This evolution highlights the critical role of pedestrian infrastructure, such as sidewalks, crosswalks, pedestrian routes, and public pathways. These elements are not only pathways but essential components of the contemporary urban environment, where human mobility seamlessly interacts with emerging autonomous and mobile robotic systems [1]. Additionally, the diversity of cities across regions significantly shapes our mobility models. Urban design and infrastructure are not just influenced by technological advancements but also by regional characteristics that dictate the functional and cultural aspects of mobility, supporting the view that cities mold our mobility paradigms, as further discussed in recent studies [2, 3]. Urban transportation and planning are intricately linked through a dynamic feedback loop, where transportation infrastructure not only shapes urban form but also influences population density, land-use patterns, and economic activities. Conversely, city planning decisions dictate the demand and feasibility of various transportation systems [4]. This interplay is further impacted by technological advancements [5]. For instance, the rise of automobiles in the 20 th century led to urban sprawl and car-dependent developments, while today's advancements in autonomous vehicles, shared mobility options, and electric cars hold the potential to reshape urban landscapes once again. As we transition into a new era of urban living, one truth emerges with clarity: these commonly overlooked urban spaces, primarily designed for pedestrian use, are no longer exclusive domains of human foot traffic. Instead, they are becoming dynamic environments where diverse modes of mobility coexist. Electric scooters, e-bikes, autonomous delivery robots, and future technologies like autonomous personal mobility devices are increasingly becoming part of the urban fabric [6]. They share the same physical spaces and temporal constraints as pedestrians. Thus, a fundamental challenge arises, one that underscores the necessity for a comprehensive understanding of pedestrian infrastructure in this shifting urban paradigm. These transformations raise questions about safety, efficiency, and accessibility in shared urban spaces, necessitating a nuanced and data-driven approach to urban planning and technology development. To tackle the intricate challenges facing urban planning and navigation technologies within the rapidly evolving urban landscapes, we introduce the DELTA dataset. This dataset is a comprehensive response to the multifaceted dynamics of urban pedestrian environments, designed to facilitate advanced research and development in this domain. A cornerstone of our research is the deployment of a custom-designed modular multi-sensing e-scooter platform, which captures all data simultaneously in a single pass. This platform integrates a diverse array of sensors, including a high-resolution 4K monocular camera, stereo camera, LiDAR, audio recording devices, IMU, and GNSS receiver. Each sensor captures unique environmental aspects with varying degrees of resolution and data types, all synchronized using a unified time-stamping system. This approach ensures a rich, multidimensional dataset, capturing the complexity of urban environments effectively and efficiently. The DELTA dataset includes sequences of stereo RGB images, depth maps, and point clouds generated from disparity maps for detailed visual representations, alongside sequences of 3D point clouds, reflectivity, and range channel data from LiDAR for precise spatial measurements. Additionally, it features raw GNSS data and IMU measurements for accurate positioning and motion tracking.