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These datasets consist of driving scenes recorded in Austin, Texas using a dash-mounted smartphone. In addition to video recordings, sensor data from the smartphone as well as CAN bus data from the car are included. Timing is synchronized across all data sources.

Sample Image

Dataset 1

Start time: 2018-04-08 10:31:37.00

End time: 2018-04-08 10:37:19.00

Image data (3419 images): Google Drive

CAN bus data: dataset1_car.csv

Smartphone sensor data: dataset1_phone.csv

Video processing

  • Originally 1920x1080 video (iPhone X)
  • PNG images extracted at 10 fps via ffmpeg
  • Images cropped to remove car hood
  • Images resized to 960x395

CAN bus data components (BMW M235i)

  • Time
  • Seconds
  • Latitude / Y Position (Degrees)
  • Longitude / X Position (Degrees)
  • Distance (Miles)
  • Speed (MPH)
  • Steering Angle
  • Throttle Position
  • Engine RPM
  • Lateral Gs
  • Acceleration Gs

Smartphone sensor data components (iPhone X)

  • loggingTime(txt)
  • locationTimestamp_since1970(s)
  • locationLatitude(WGS84)
  • locationLongitude(WGS84)
  • locationAltitude(m)
  • locationSpeed(m/s)
  • locationCourse(°)
  • locationVerticalAccuracy(m)
  • locationHorizontalAccuracy(m)
  • locationFloor(Z)
  • locationHeadingTimestamp_since1970(s)
  • locationHeadingX(µT)
  • locationHeadingY(µT)
  • locationHeadingZ(µT)
  • locationTrueHeading(°)
  • locationMagneticHeading(°)
  • locationHeadingAccuracy(°)
  • accelerometerTimestamp_sinceReboot(s)
  • accelerometerAccelerationX(G)
  • accelerometerAccelerationY(G)
  • accelerometerAccelerationZ(G)
  • gyroTimestamp_sinceReboot(s)
  • gyroRotationX(rad/s)
  • gyroRotationY(rad/s)
  • gyroRotationZ(rad/s)
  • motionTimestamp_sinceReboot(s)
  • motionYaw(rad)
  • motionRoll(rad)
  • motionPitch(rad)
  • motionRotationRateX(rad/s)
  • motionRotationRateY(rad/s)
  • motionRotationRateZ(rad/s)
  • motionUserAccelerationX(G)
  • motionUserAccelerationY(G)
  • motionUserAccelerationZ(G)
  • motionAttitudeReferenceFrame(txt)
  • motionQuaternionX(R)
  • motionQuaternionY(R)
  • motionQuaternionZ(R)
  • motionQuaternionW(R)
  • motionGravityX(G)
  • motionGravityY(G)
  • motionGravityZ(G)
  • motionMagneticFieldX(µT)
  • motionMagneticFieldY(µT)
  • motionMagneticFieldZ(µT)
  • motionMagneticFieldCalibrationAccuracy(Z)
  • activityTimestamp_sinceReboot(s)
  • activity(txt)
  • activityActivityConfidence(Z)
  • activityActivityStartDate(txt)
  • deviceOrientation(Z)