Automated vehicles rely heavily on data-driven methods, especially for complex urban environments. Large datasets of real world measurement data in the form of road user trajectories are crucial for several tasks like road user prediction models or scenario-based safety validation. So far, though, this demand is unmet as no public dataset of urban road user trajectories is available in an appropriate size, quality and variety. By contrast, the highway drone dataset (highD) has recently shown that drones are an efficient method for acquiring naturalistic road user trajectories. Compared to driving studies or ground-level infrastructure sensors, one major advantage of using a drone is the possibility to record naturalistic behavior, as road users do not notice measurements taking place. Due to the ideal viewing angle, an entire intersection scenario can be measured with significantly less occlusion than with sensors at ground level. Both the class and the trajectory of each road user can be extracted from the video recordings with high precision using state-of-the-art deep neural networks. Therefore, we propose the creation of a comprehensive, large-scale urban intersection dataset with naturalistic road user behavior using camera-equipped drones as successor of the highD dataset. The resulting dataset contains more than 11500 road users including vehicles, bicyclists and pedestrians at intersections in Germany and is called inD. The dataset consists of 10 hours of measurement data from four intersections and is available online for non-commercial research at: http://www.inD-dataset.com

通过使用无人机记录道路使用者的自然行为，我们提出了一个综合的，大规模的城市十字路口数据集，其中包含来自德国四个路口的超过11500个使用者，包括车辆，自行车手和行人。该数据集可用于非商业研究。

inD数据集：德国路口自然道路用户轨迹的无人机数据集