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The main goal of this paper is to introduce the data collection effort atMcity targeting automated vehicle development. We captured a comprehensive setof data from a set of perception sensors (Lidars, Radars, Cameras) as well asvehicle steering/brake/throttle inputs and an RTK unit. Two in-cabin camerasrecord the human driver's behaviors for possible future use. The naturalisticdriving on selected open roads is recorded at different time of day and weatherconditions. We also perform designed choreography data collection inside theMcity test facility focusing on vehicle to vehicle, and vehicle to vulnerableroad user interactions which is quite unique among existing open-sourcedatasets. The vehicle platform, data content, tags/labels, and selectedanalysis results are shown in this paper.

Mcity Data Collection for Automated Vehicles Study