IPC 2025 Infrastructure Sensor and Connected Vehicle Dataset

Summary

This dataset was produced by the Infrastructure Perception and Control (IPC) research team using the equipment and tools available under the IPC Lab. The data was collected across two dates in 2025 and contains processed roadside traffic sensor detections (Radar, Lidar, Camera) and connected vehicle (CV) data from two different traffic intersections in Colorado. This is a follow up to the IPC data previously published in the NLR Data Catalog (Submission 287). Here are specific details about the data:

April 22, 2025 - Stapleton Dr. & Meridian Rd., Falcon, CO

The longest single session (~3 hours), capturing vehicle and pedestrian trajectories with 4 radar units, 2 lidar units, and 2 cameras at a rural intersection. No connected vehicle or GPS ground-truth data.

• Sensors: 4x Econolite EVO Radar, 2x Ouster OS1 LiDAR, 2x Axis Camera
• Duration: ~181-183 min

November 24, 2025 - N Cascade Ave & E Cache La Poudre St, Colorado Springs, CO

Two sequential runs at an urban signalized intersection, featuring the deployment of a connected vehicle Basic Safety Message (BSM) receiver along with the infrastructure sensors. Both runs include GPS ground-truth probe vehicle trajectories for cross-sensor validation.

• Sensors: 2x Econolite EVO Radar, 2x Ouster OS1 LiDAR, 2x Axis Camera, 1x CV BSM Receiver
• Duration: Run 1 ~50-65 min, Run 2 ~47-52 min

Output Files

• EVO_RADAR_*.csv - radar object tracks (up to 4 files)
• OS1_LIDAR_*.csv - lidar object tracks (2 files)
• AXS_CAMERA_*.csv - camera detections with image-plane bounding boxes (2 files)
• CV_BSM_1.csv - connected vehicle BSM messages (November sessions only)
• GPS_PPK.csv - GPS post-processed probe vehicle trajectory (November sessions only)
• figs/ - spatial scatter plots (100-500 m extents) and inter-detection interval histograms

Notes for Data Users

• Sensor availability varies by session; not all sensors present in all runs
• Each sensor reports data in its own local coordinate system; the data would need to be transformed prior to fusion
• PositionX is positive east; PositionY is positive north; HeadingDeg is 0 deg = east, 90 deg = north, range (-180, 180].
• BSM and GPS data are exclusive to the November 2025 sessions
• Timestamps are rounded to 100 ms; TimeElapsed is the recommended field for cross-sensor alignment within a session
• ObjectId is sensor-assigned and is NOT consistent across sensors or sessions