The dataset consists of tracking data of 8292 vehicles travelling though a roundabout in Sydney, Australia. This data was collected by a vehicle outfitted with a ibeo.HAD Feature Fusion detection and tracking system. This system uses 6 ibeo LUX 4 beam, 25 Hz Lidar scanners to identify road users at a range of up to 200m, and has an on-board computer for classification and tracking, in real time.

These tracks are sorted by origin and destination for each vehicle. Data about each detected vehicle includes: X/Y relative positioning (metres), velocity (metres/second), heading (radians), size (width/height metres), classification [bike, car, heavy vehicle, pedestrian], and classification confidence. Indicator status is not collected, or recorded.

The data is in python pickle format, and a jupyter notebook for data visualisation can be found in the link below.


When using this dataset please cite:

Publications introducting this dataset to be added soon


Publications using this dataset to be added soon


Zip file (approx 200MB) contains a python pickle dataset and a jupyter notebook for data visualisation

Download link: leith-croydon intersection dataset rev-A