TUMTraf V2X Cooperative Perception Dataset

ception dataset, for the cooperative 3D object detection and tracking task. Our dataset contains 2,000 labeled point clouds and 5,000 labeled images from five roadside and four onboard sensors. It includes 30k 3D boxes with track IDs and precise GPS and IMU data. We labeled nine categories and covered occlusion scenarios with challenging driving maneuvers, like traffic violations, near-miss events, overtaking, and U-turns. Through multiple experiments, we show that our CoopDet3D camera-LiDARfusion model achieves an increase of +14.36 3D mAP compared to a vehicle camera-LiDARfusion model. Finally, we make our dataset, model, labeling tool, and devkit publicly available on our website.