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Fig. 1 The top-view schematic of the dataset scenarios. The arrow represents the direction of movement. The lateral shadowing of the DCV in the CCRs and CCRm scenarios indicates that data are collected across different lane positions.


TABLE. 1 Details about the dataset sequences.

sensor


Car-to-Car Rear scenarios


CCRs-1


  • CCRs-1-low-100%:   video (264.6 M)   |   hdf5 (3.22 G)   |   gt-ttc   |   raw bag (877.4 M)
      |   gt-depth (263.4 M)   |   bbox-segmentation   |   download-full-sequence
  • CCRs-1-medium-100%:   video (242.9 M)   |   hdf5 (3.59 G)   |   gt-ttc   |   raw bag (936.6 M)
      |   gt-depth (273 M)   |   bbox-segmentation   |   download-full-sequence
  • CCRs-1-high-100%:   video (264.6 M)   |   hdf5 (3.22 G)   |   gt-ttc   |   raw bag (877.4 M)
      |   gt-depth (642 M)   |   bbox-segmentation   |   download-full-sequence

  • CCRs-1-low-50%:   video (331.4 M)   |   hdf5 (4.84 G)   |   gt-ttc   |   raw bag (1.05 G)
      |   gt-depth (426.9 M)   |   bbox-segmentation   |   download-full-sequence
  • CCRs-1-medium-50%:   video (264 M)   |   hdf5 (4.3 G)   |   gt-ttc   |   raw bag (979.7 M)
      |   gt-depth (364.3 M)   |   bbox-segmentation   |   download-full-sequence
  • CCRs-1-high-50%:   video (443.8 M)   |   hdf5 (7.06 G)   |   gt-ttc   |   raw bag (2.73 G)
      |   gt-depth (567.4 M)   |   bbox-segmentation   |   download-full-sequence

  • CCRs-1-low-0%:   video (356.4 M)   |   hdf5 (5.02 G)   |   gt-ttc   |   raw bag (1.07 G)
      |   gt-depth (493.1 M)   |   bbox-segmentation   |   download-full-sequence
  • CCRs-1-medium-0%:   video (298.5 M)   |   hdf5 (4.31 G)   |   gt-ttc   |   raw bag (1.04 G)
      |   gt-depth (397.4 M)   |   bbox-segmentation   |   download-full-sequence
  • CCRs-1-high-0%:   video (474.2 M)   |   hdf5 (6.98 G)   |   gt-ttc   |   raw bag (2.7 G)
      |   gt-depth (622.2 M)   |   bbox-segmentation   |   download-full-sequence


    • CCRs-2


  • CCRs-2-low-100%:   video (324.9 M)   |   hdf5 (4.86 G)   |   gt-ttc   |   raw bag (1.23 G)
      |   gt-depth (507.2 M)   |   bbox-segmentation   |   download-full-sequence
  • CCRs-2-medium-100%:   video (359.2 M)   |   hdf5 (5.26 G)   |   gt-ttc   |   raw bag (1.5 G)
      |   gt-depth (522.3 M)   |   bbox-segmentation   |   download-full-sequence
  • CCRs-2-high-100%:   video (431.5 M)   |   hdf5 (6.36 G)   |   gt-ttc   |   raw bag (2.04 G)
      |   gt-depth (637.6 M)   |   bbox-segmentation   |   download-full-sequence


    • CCRs-3


  • CCRs-3-low-100%:   video (333.4 M)   |   hdf5 (4.98 G)   |   gt-ttc   |   raw bag (1.43 G)
      |   gt-depth (495.7 M)   |   bbox-segmentation   |   download-full-sequence
  • CCRs-3-medium-100%:   video (341.7 M)   |   hdf5 (5.17 G)   |   gt-ttc   |   raw bag (1.72 G)
      |   gt-depth (459.3 M)   |   bbox-segmentation   |   download-full-sequence


    • CCRs-side


  • CCRs-side-low:   video (291 M)   |   hdf5 (4.48 G)   |   gt-ttc   |   raw bag (1.04 G)
      |   gt-depth (356.6 M)   |   bbox-segmentation   |   download-full-sequence
  • CCRs-side-medium:   video (243.6 M)   |   hdf5 (4.26 G)   |   gt-ttc   |   raw bag (1003.1 M)
      |   gt-depth (358.4 M)   |   bbox-segmentation   |   download-full-sequence
  • CCRs-side-high:   video (346.7 M)   |   hdf5 (5.17 G)   |   gt-ttc   |   raw bag (1.86 G)
      |   gt-depth (457.5 M)   |   bbox-segmentation   |   download-full-sequence


    • CCRm


  • CCRm-low-100%:   video (417.8 M)   |   hdf5 (5.85 G)   |   gt-ttc   |   raw bag (1.88 G)
      |   gt-depth (556.2 M)   |   bbox-segmentation   |   download-full-sequence
  • CCRm-medium-100%:   video (504.7 M)   |   hdf5 (7.7 G)   |   gt-ttc   |   raw bag (2.22 G)
      |   gt-depth (816 M)   |   bbox-segmentation   |   download-full-sequence

  • CCRm-low-50%:   video (352.2 M)   |   hdf5 (5.27 G)   |   gt-ttc   |   raw bag (1.43 G)
      |   gt-depth (532.2 M)   |   bbox-segmentation   |   download-full-sequence
  • CCRm-medium-50%:   video (374 M)   |   hdf5 (5.44 G)   |   gt-ttc   |   raw bag (1.62 G)
      |   gt-depth (517.9 M)   |   bbox-segmentation   |   download-full-sequence

  • CCRm-low-0%:   video (441.4 M)   |   hdf5 (6.79 G)   |   gt-ttc (K)   |   raw bag (2.01 G)
      |   gt-depth (699.2 M)   |   bbox-segmentation   |   download-full-sequence
  • CCRm-medium-0%:   video (441.2 M)   |   hdf5 (6.47 G)   |   gt-ttc   |   raw bag (1.91 G)
      |   gt-depth (649.1 M)   |   bbox-segmentation   |   download-full-sequence


    • Car-to-Pedestrain scenarios


    CPLA


  • CPLA-low:   video (502 M)   |   hdf5 (7.01 G)   |   gt-ttc   |   raw bag (1.97 G)
      |   gt-depth (716 M)   |   bbox-segmentation   |   download-full-sequence
  • CPLA-medium:   video (448.7 M)   |   hdf5 (6.13 G)   |   gt-ttc   |   raw bag (1.92 G)
      |   gt-depth (543.2 M)   |   bbox-segmentation   |   download-full-sequence
  • CPLA-high:   video (456.2 M)   |   hdf5 (6.52 G)   |   gt-ttc   |   raw bag (2.62 G)
      |   gt-depth (572.2 M)   |   bbox-segmentation   |   download-full-sequence


    • CPNA


  • CPNA-low:   video (478.9 M)   |   hdf5 (6.99 G)   |   gt-ttc   |   raw bag (1.95 G)
      |   gt-depth (731.6 M)   |   bbox-segmentation   |   download-full-sequence
  • CPNA-medium:   video (423.5 M)   |   hdf5 (6.42 G)   |   gt-ttc   |   raw bag (1.97 G)
      |   gt-depth (625.7 M)   |   bbox-segmentation   |   download-full-sequence
  • CPNA-high:   video (476.4 M)   |   hdf5 (7.22 G)   |   gt-ttc   |   raw bag (2.73 G)
      |   gt-depth (642.6 M)   |   bbox-segmentation   |   download-full-sequence


    • CPNAO


  • CPNAO-low:   video (495.7 M)   |   hdf5 (7.6 G)   |   gt-ttc   |   raw bag (1.9 G)
      |   gt-depth (860.3 M)   |   bbox-segmentation   |   download-full-sequence
  • CPNAO-medium:   video (407.2 M)   |   hdf5 (5.97 G)   |   gt-ttc   |   raw bag (1.73 G)
      |   gt-depth (567.8 M)   |   bbox-segmentation   |   download-full-sequence
  • CPNAO-high:   video (414 M)   |   hdf5 (5.86 G)   |   gt-ttc   |   raw bag (2.14 G)
      |   gt-depth (539.6 M)   |   bbox-segmentation   |   download-full-sequence