This dataset was collected as part of the U.S. Department of Transportation (U.S. DOT) Intersection Safety Challenge (hereafter, “the Challenge”) for Stage 1B: System Assessment and Virtual Testing. Multi-sensor data were collected at a controlled test roadway intersection the Federal Highway Administration (FHWA) Turner-Fairbank Highway Research Center (TFHRC) Smart Intersection facility in McLean, VA from October 2023 through March 2024. The data include potential conflict-based and non-conflict-based experimental scenarios between vulnerable road users (e.g., pedestrians, bicyclists) and vehicles during both daytime and nighttime conditions. Note that no actual human vulnerable road users were put at risk of being involved in a collision during the data collection efforts. The provided data (hereafter, “the Challenge Dataset”) are unlabeled training data (without ground truth) that were collected to be used for intersection safety system algorithm training, refinement, tuning, and/or validation, but may have additional uses. For a summary of the Stage 1B data collection effort, please see this video: https://youtu.be/csirVHFa2Cc.

The Challenge Dataset includes data at a single, signalized four-way intersection from 20 roadside sensors and traffic control devices, including eight closed-circuit television (CCTV) visual cameras, five thermal cameras, two light detection and ranging (LiDAR) sensors, and four radar sensors. Intrinsic calibration was performed for all visual and thermal cameras. Extrinsic calibration was performed for specific pairs of roadside sensors. Additionally, the traffic signal phase and timing data and vehicle and/or pedestrian calls to the traffic signal controller (if any) are also provided.

The total number of unique runs in the Challenge Dataset is 1,104, bringing the total size of the dataset to approximately 1 TB. A sample of 20 unique runs from the Challenge Dataset is provided here for download, inspection, and use. If, after inspecting this sample, a potential data user would like access to download the full Challenge Dataset, a request can be made via the form here: https://its.dot.gov/data/data-request

For more details about the data collection, supplemental files, organization and dictionary, and sensor calibration, see the attached “U.S. DOT ISC Stage 1B ITS DataHub Metadata_v1.0.pdf” document. For more information on the background of the Intersection Safety Challenge Stage 1B, please visit: https://www.its.dot.gov/research-areas/Intersection-Safety-Challenge/.