IPC 2025 Infrastructure Sensor and Connected Vehicle Dataset
SummaryThis dataset was produced by the Infrastructure Perception and Control (IPC) research team using the equipment and tools available under the IPC Lab. The data was collected across two dates in 2025 and contains processed roadside traffic sensor detections (Radar, Lidar, Camera) and connected vehicle (CV) data from two different traffic intersections in Colorado. This is a follow up to the IPC data previously published in the NLR Data Catalog (Submission 287). Here are specific details about the data:April 22, 2025 - Stapleton Dr. & Meridian Rd., Falcon, COThe longest single session (~3 hours), capturing vehicle and pedestrian trajectories with 4 radar units, 2 lidar units, and 2 cameras at a rural intersection. No connected vehicle or GPS ground-truth data.Sensors: 4x Econolite EVO Radar, 2x Ouster OS1 LiDAR, 2x Axis CameraDuration: ~181-183 minNovember 24, 2025 - N Cascade Ave & E Cache La Poudre St, Colorado Springs, COTwo sequential runs at an urban signalized intersection, featuring the deployment of a connected vehicle Basic Safety Message (BSM) receiver along with the infrastructure sensors. Both runs include GPS ground-truth probe vehicle trajectories for cross-sensor validation.Sensors: 2x Econolite EVO Radar, 2x Ouster OS1 LiDAR, 2x Axis Camera, 1x CV BSM ReceiverDuration: Run 1 ~50-65 min, Run 2 ~47-52 minOutput FilesEVO_RADAR_*.csv - radar object tracks (up to 4 files)OS1_LIDAR_*.csv - lidar object tracks (2 files)AXS_CAMERA_*.csv - camera detections with image-plane bounding boxes (2 files)CV_BSM_1.csv - connected vehicle BSM messages (November sessions only)GPS_PPK.csv - GPS post-processed probe vehicle trajectory (November sessions only)figs/ - spatial scatter plots (100-500 m extents) and inter-detection interval histogramsNotes for Data UsersSensor availability varies by session; not all sensors present in all runsEach sensor reports data in its own local coordinate system; the data would need to be transformed prior to fusionPositionX is positive east; PositionY is positive north; HeadingDeg is 0 deg = east, 90 deg = north, range (-180, 180].BSM and GPS data are exclusive to the November 2025 sessionsTimestamps are rounded to 100 ms; TimeElapsed is the recommended field for cross-sensor alignment within a sessionObjectId is sensor-assigned and is NOT consistent across sensors or sessions
Resources
3 resources available
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Location : Stapleton Dr. and Meridian Rd., Falcon, CO Date: April 22, 2025 Duration : ~181-183 minutes
, FALCON, CO DATE: APRIL 22, 2025 DURATION : ~181-183 MINUTES -
Location: N Cascade Ave & E Cache La Poudre St, Colorado Springs, CO Date: November 24, 2025 (Run 1) Duration: ~50-65 minutes
APPLICATION/OCTET-STREAM -
Location: N Cascade Ave & E Cache La Poudre St, Colorado Springs, CO Date: November 24, 2025 (Run 2) Duration: ~50-65 minutes
APPLICATION/OCTET-STREAM
Complete Metadata
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|---|---|
| accessLevel | public |
| bureauCode |
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| description | SummaryThis dataset was produced by the Infrastructure Perception and Control (IPC) research team using the equipment and tools available under the IPC Lab. The data was collected across two dates in 2025 and contains processed roadside traffic sensor detections (Radar, Lidar, Camera) and connected vehicle (CV) data from two different traffic intersections in Colorado. This is a follow up to the IPC data previously published in the NLR Data Catalog (Submission 287). Here are specific details about the data:April 22, 2025 - Stapleton Dr. & Meridian Rd., Falcon, COThe longest single session (~3 hours), capturing vehicle and pedestrian trajectories with 4 radar units, 2 lidar units, and 2 cameras at a rural intersection. No connected vehicle or GPS ground-truth data.Sensors: 4x Econolite EVO Radar, 2x Ouster OS1 LiDAR, 2x Axis CameraDuration: ~181-183 minNovember 24, 2025 - N Cascade Ave & E Cache La Poudre St, Colorado Springs, COTwo sequential runs at an urban signalized intersection, featuring the deployment of a connected vehicle Basic Safety Message (BSM) receiver along with the infrastructure sensors. Both runs include GPS ground-truth probe vehicle trajectories for cross-sensor validation.Sensors: 2x Econolite EVO Radar, 2x Ouster OS1 LiDAR, 2x Axis Camera, 1x CV BSM ReceiverDuration: Run 1 ~50-65 min, Run 2 ~47-52 minOutput FilesEVO_RADAR_*.csv - radar object tracks (up to 4 files)OS1_LIDAR_*.csv - lidar object tracks (2 files)AXS_CAMERA_*.csv - camera detections with image-plane bounding boxes (2 files)CV_BSM_1.csv - connected vehicle BSM messages (November sessions only)GPS_PPK.csv - GPS post-processed probe vehicle trajectory (November sessions only)figs/ - spatial scatter plots (100-500 m extents) and inter-detection interval histogramsNotes for Data UsersSensor availability varies by session; not all sensors present in all runsEach sensor reports data in its own local coordinate system; the data would need to be transformed prior to fusionPositionX is positive east; PositionY is positive north; HeadingDeg is 0 deg = east, 90 deg = north, range (-180, 180].BSM and GPS data are exclusive to the November 2025 sessionsTimestamps are rounded to 100 ms; TimeElapsed is the recommended field for cross-sensor alignment within a sessionObjectId is sensor-assigned and is NOT consistent across sensors or sessions |
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|
| identifier | https://data.openei.org/submissions/8634 |
| issued | 2026-02-27T20:56:38Z |
| keyword |
[
"Connected Vehicles",
"Infrastructure Sensors",
"Traffic Lidar",
"Traffic Radar"
]
|
| landingPage | https://data.nlr.gov/submissions/314 |
| license | https://creativecommons.org/licenses/by/4.0/ |
| modified | 2026-02-27T20:56:37Z |
| programCode |
[
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"019:023"
]
|
| projectNumber | |
| projectTitle | |
| publisher |
{
"name": "National Laboratory of the Rockies",
"@type": "org:Organization"
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|
| title | IPC 2025 Infrastructure Sensor and Connected Vehicle Dataset |
