Waterloo multi-agent traffic dataset: crosswalk | Waterloo Intelligent Systems Engineering Lab

Recorded with an overhead drone at a crosswalk on UWaterloo campus (Ring Rd.) in Waterloo, Ontario, Canada. Duration of the dataset is 1 hour long.

The dataset is split into the following components:

Database files: These are SQLite DB files that contain contextual information of each agent in the dataset and the trajectories.
Annotated videos: These are videos of the the recorded drone footage with each agent annotated with their corresponding id.

List of tables

GATE_CROSSING_EVENTS

This table contains information about the agent trajectories in relation to gate crossings.

Column Name

Description

GATE_ID

Unique ID of the gate that the trajectory crosses

GATE_TYPE

The type of the gate. See additional column info below

Discrete Value	Description
LANE_GATE	These gates are entry and exit gates to the intersections. Each entry lane to the intersection ends in an entry gate and each exit lane of the intersection starts at an exit gate.
SEGMENT_GATE	These gates are entry gate to each traffic segment within a lane.

TRACK_ID

Track ID of the agent in the file.

TYPE

IMAGE_ID

TIME

Time in seconds into the file that the agent crosses this gate.

SPEED

The speed in kilometers per hour of the agent at the time of crossing this gate

TAN_ACC

The tangential acceleration in meters per second squared of the agent at the time of crossing this gate

LAT_ACC

The lateral acceleration in meters per second squared of the agent at the time of crossing this gate

HEADWAY_S

HEADWAY_M

YAW

The yaw in radians of the agent at the time of crossing this gate

SEGMENT_SEQ_MAP

This table is used for mapping the traffic segment sequence of a vehicle trajectory to the direction of travel, entry, and exit gates that lie on the trajectory path

Column Name

Description

SEGMENT_ID

Segment sequence ID

ENTRY_GATE

Entry gate ID that this sequence of traffic segment sequence crosses

EXIT_GATE

Exit gate ID that this sequence of traffic segment sequence crosses

SEGMENT_SEQ

The traffic segment sequence listed in sequence. Refer to the segment diagram and TRAFFIC_REGIONS_DEF for details on the traffic segments.

DIRECTION

Destination direction.

Discrete Value	Description
E	East
N	North
W	West
S	South

TRACKS

This table contains metadata about each agents' track

Column Name

Description

FILE_ID

TRACK_ID

Track ID of the agent in the file.

TYPE

Type of the agent.

Discrete Value	Description
Car	Car
Pedestrian	Pedestrian
Heavy Vehicle	Heavy Vehicle
Medium Vehicle	Medium Vehicle
Bicycle	Bicycle
Bus	Bus

TRACK_WIDTH

TRACK_LENGTH

ENTRY_GATE

The entry gate ID of intersection from which the agent enters.

ENTRY_TIME

The time in seconds since the start of the file when the agent crosses the entry gate

EXIT_GATE

The exit gate ID of intersection from which the agent exits the intersection.

EXIT_TIME

The time in seconds since the start of the file when the agent crosses the exit gate

TRAVELED_DIST

Distance in meters travelled by the agent between the two gates

AVG_SPEED

Average speed in kilometers per hour of the agent

TRAFFIC_REGIONS_DEF

This table stores spatial traffic entities of interests. Includes traffic segments, centerlines, traffic segment gate locations, etc.

Column Name

Description

NAME

Name of the spatial entity. See additional column info below.

Discrete Value	Description
south_region,north_sidewalk,north_region,east_exit,east_entry, w_e_seg,e_w_seg,west_entry,west_exit,west_veh_xwalk_intersect, east_veh_xwalk_intersect,south_decision_region,north_decision_region	These are spatial traffic regions. Please refer to the diagram below for a visual depiction of the location of each region in the intersection.
east_xwalk_exit_gate,east_xwalk_entry_gate,west_xwalk_exit_gate, west_xwalk_entry_gate,east_exit_gate,east_entry_gate,west_exit_gate, west_entry_gate	Gates for segments

REGION_ID

SHAPE

Geometric shape of this spatial entity

REGION_PROPERTY

Additional information about the type of this spatial region. See additional column info below.

Discrete Value	Description
gate	The location of the SEGMENT_GATE gate of the corresponding gate id
lane_boundary	The spatial boundary that covers all the lanes corresponding to the travel direction
path_intersection	Point where pedestrian and vehicle paths intersect

X_POSITIONS

UTM lateral points (zone 17T) of the this spatial entity. For centerlines, the points are listed in sequence along the direction of travel. For entry and exit boundaries, the points are listed from left to right when encountered along the direction of travel.

Y_POSITIONS

UTM longitudinal points (zone 17T) of the this spatial entity. For centerlines, the points are listed in sequence along the direction of travel. For entry and exit boundaries, the points are listed from left to right when encountered along the direction of travel.

Gates

Segments

TRAJECTORIES_0<file_id>.db

This table contains the trajectory of each agent in the corresponding file.

Column Name	Description
TRACK_ID	Track ID of the agent in the file.
X	UTM lateral co-ordinate (zone 17T) of the position of the agent
Y	UTM longitudinal co-ordinate (zone 17T) of the position of the agent
SPEED	Speed of the agent in kilometers per hour at a specific moment
TAN_ACC	Tangential acceleration of the agent in meters per second squared at a specific moment.
LAT_ACC	Lateral acceleration of the agent in meters per second squared at a specific moment.
TIME	Seconds from the beginning of the video, where the position, speed, and acceleration of the vehicle are measured.
ANGLE	Vehicle angle for each exported position of a Trajectory.
TRAFFIC_REGIONS

TRAJECTORIES_0<file_id>_EXT.db

This table contains additional trajectory information of each agent in the corresponding file.

Column Name	Description
TRACK_ID	Track ID of the agent in the file.
TIME	Seconds from the beginning of the video, where the position, speed, and acceleration of the vehicle are measured.
ASSIGNED_SEGMENT	The assigned traffic segment of the agent at a specific moment.
L1_ACTION
L2_ACTION

TRAJECTORY_MOVEMENTS

This table contains metadata about each agents' track

Column Name

Description

FILE_ID

TRACK_ID

Track ID of the agent in the file.

TYPE

Type of the agent.

Discrete Value	Description
Car	Car
Pedestrian	Pedestrian
Heavy Vehicle	Heavy Vehicle
Medium Vehicle	Medium Vehicle
Bicycle	Bicycle
Bus	Bus

ENTRY_GATE

The entry gate ID of intersection from which the agent enters.

EXIT_GATE

The exit gate ID of intersection from which the agent exits the intersection.

GATES_PASSED

List of gates crossed by the agent. (Pedestrians usually cross multiple gates since they can cross over multiple crosswalks)

TIME_BTW_GATES

Time passed in seconds by the agent between the entry and exit gate.

DISTANCE_BTW_GATES

Length of the trajectory of the agent between the entry and exit gate

TIME_TOTAL

Total time in seconds length of the trajectory of the agent

DISTANCE_TOTAL

Total length in meters of the agent's trajectory

MIN_SPEED_BTW_GATES

Minimum speed in kilometers per hour of the agent between entry and exit gates

AVG_SPEED_BTW_GATES

Average speed in kilometers per hour of the agent between entry and exit gates

MAX_SPEED_BTW_GATES

Maximum speed in kilometers per hour of the agent between entry and exit gates

MIN_SPEED_TOTAL

Minimum speed in kilometers per hour of the agent

AVG_SPEED_TOTAL

Average speed in kilometers per hour of the agent

MAX_SPEED_TOTAL

Maximum speed in kilometers per hour of the agent

MIN_TOTAL_ACC_BTW_GATES

Minimum total acceleration in meters per second squared of the agent between entry and exit gates

AVG_TOTAL_ACC_BTW_GATES

Average total acceleration in meters per second squared of the agent between entry and exit gates

MAX_TOTAL_ACC_BTW_GATES

Maximum total acceleration in meters per second squared of the agent between entry and exit gates

MIN_TOTAL_ACC_TOTAL

Minimum total acceleration in meters per second squared of the agent

AVG_TOTAL_ACC_TOTAL

Average total acceleration in meters per second squared of the agent

MAX_TOTAL_ACC_TOTAL

Maximum total acceleration in meters per second squared of the agent

MIN_LATERAL_ACC_BTW_GATES

Minimum lateral acceleration in meters per second squared of the agent between entry and exit gates

AVG_LATERAL_ACC_BTW_GATES

Average lateral acceleration in meters per second squared of the agent between entry and exit gates

MAX_LATERAL_ACC_BTW_GATES

Maximum lateral acceleration in meters per second squared of the agent between entry and exit gates

MIN_LATERAL_ACC_TOTAL

Minimum lateral acceleration in meters per second squared of the agent

AVG_LATERAL_ACC_TOTAL

Average lateral acceleration in meters per second squared of the agent

MAX_LATERAL_ACC_TOTAL

Maximum lateral acceleration in meters per second squared of the agent

MIN_TANGENTIAL_ACC_BTW_GATES

Minimum tangential acceleration in meters per second squared of the agent between entry and exit gates

AVG_TANGENTIAL_ACC_BTW_GATES

Average tangential acceleration in meters per second squared of the agent between entry and exit gates

MAX_TANGENTIAL_ACC_BTW_GATES

Maximum tangential acceleration in meters per second squared of the agent between entry and exit gates

MIN_TANGENTIAL_ACC_TOTAL

Minimum tangential acceleration in meters per second squared of the agent

AVG_TANGENTIAL_ACC_TOTAL

Average tangential acceleration in meters per second squared of the agent

MAX_TANGENTIAL_ACC_TOTAL

Maximum tangential acceleration in meters per second squared of the agent

TOTAL_STATIONARY_TIME

Total time in seconds the agent spent in stationary state (zero speed)

LONGEST_STATIONARY_TIM

Longest time in seconds the agent spent in stationary state (zero speed)

TRAFFIC_SEGMENT_SEQ

Sequence of traffic region segment the agent passes through. Listed in sequence. Refer to TRAFFIC_REGIONS_DEF table