OpenTraj

Human Trajectory Prediction Dataset Benchmark

We introduce existing datasets for Human Trajectory Prediction (HTP) task, and also provide tools to load, visualize and analyze datasets. So far multiple datasets are supported.

Public Available Datasets

Sample	Name	Description	Ref
	ETH	2 top view scenes containing walking pedestrians #Traj:[Peds=750] Coord=world-2D FPS=2.5	website paper
	UCY	3 scenes (Zara/Arxiepiskopi/University). Zara and University close to top view. Arxiepiskopi more inclined. #Traj:[Peds=786] Coord=world-2D FPS=2.5	website paper
	PETS 2009	different crowd activities #Traj:[?] Coord=image-2D FPS=7	website paper
	SDD	8 top view scenes recorded by drone contains various types of agents #Traj:[Bikes=4210 Peds=5232 Skates=292 Carts=174 Cars=316 Buss=76 Total=10,300] Coord=image-2D FPS=30	website paper dropbox
	GC	Grand Central Train Station Dataset: 1 scene of 33:20 minutes of crowd trajectories #Traj:[Peds=12,684] Coord=image-2D FPS=25	dropbox paper
	HERMES	Controlled Experiments of Pedestrian Dynamics (Unidirectional and bidirectional flows) #Traj:[?] Coord=world-2D FPS=16	website data
	Waymo	High-resolution sensor data collected by Waymo self-driving cars #Traj:[?] Coord=2D and 3D FPS=?	website github
	KITTI	6 hours of traffic scenarios. various sensors #Traj:[?] Coord=image-3D + Calib FPS=10	website
	inD	Naturalistic Trajectories of Vehicles and Vulnerable Road Users Recorded at German Intersections #Traj:[Total=11,500] Coord=world-2D FPS=25	website paper
	L-CAS	Multisensor People Dataset Collected by a Pioneer 3-AT robot #Traj:[?] Coord=0 FPS=0	website
	VIRAT	Natural scenes showing people performing normal actions #Traj:[?] Coord=0 FPS=0	website
	VRU	consists of pedestrian and cyclist trajectories, recorded at an urban intersection using cameras and LiDARs #Traj:[peds=1068 Bikes=464] Coord=World (Meter) FPS=25	website
	Edinburgh	People walking through the Informatics Forum (University of Edinburgh) #Traj:[ped=+92,000] FPS=0	website
	Town Center	CCTV video of pedestrians in a busy downtown area in Oxford #Traj:[peds=2,200] Coord=0 FPS=0	website
	ATC	92 days of pedestrian trajectories in a shopping center in Osaka, Japan #Traj:[?] Coord=world-2D + Range data	website
	City Scapes	25,000 annotated images (Semantic/ Instance-wise/ Dense pixel annotations) #Traj:[?]	website
	Forking Paths Garden	Multi-modal Synthetic dataset, created in CARLA (3D simulator) based on real world trajectory data, extrapolated by human annotators #Traj:[?]	website github paper
	nuScenes	Large-scale Autonomous Driving dataset #Traj:[peds=222,164 vehicles=662,856] Coord=World + 3D Range Data FPS=2	website
	Argoverse	320 hours of Self-driving dataset #Traj:[objects=11,052] Coord=3D FPS=10	website
	Wild Track	surveillance video dataset of students recorded outside the ETH university main building in Zurich. #Traj:[peds=1,200]	website
	DUT	Natural Vehicle-Crowd Interactions in crowded university campus #Traj:[Peds=1,739 vehicles=123 Total=1,862] Coord=world-2D FPS=23.98	github paper
	CITR	Fundamental Vehicle-Crowd Interaction scenarios in controlled experiments #Traj:[Peds=340] Coord=world-2D FPS=29.97	github paper
	Ko-PER	Trajectories of People and vehicles at Urban Intersections (Laserscanner + Video) #Traj:[peds=350] Coord=world-2D	paper
	TRAF	small dataset of dense and heterogeneous traffic videos in India (22 footages) #Traj:[Cars=33 Bikes=20 Peds=11] Coord=image-2D FPS=10	website gDrive paper
	ETH-Person	Multi-Person Data Collected from Mobile Platforms	website

Human Trajectory Prediction Benchmarks

• MOT-Challenge: Multiple Object Tracking Benchmark
• Trajnet: Trajectory Forecasting Challenge
• Trajnet++: Trajectory Forecasting Challenge
• JackRabbot: Detection And Tracking Dataset and Benchmark

Toolkit

To download the toolkit, separately in a zip file click here)

1. Parsers

Using python files in parser dir, you can load a dataset into a dataset object. This object then can be used to retrieve the trajectories, with different queries (by id, timestamp, ...).

2. Graphical User Interface

A simple script with a pyqt GUI is developed play.py, and can be used to visualize a given dataset (the ones whose parsers are available):

References

• An Awesome list of Trajectory Prediction references can be found here

Collaboration

Are you interested in collaboration on OpenTraj? Send an email to me titled OpenTraj.