OSDaR23: Open Sensor Data for Rail 2023

TL;DR

OSDaR23 is a comprehensive multi-sensor dataset designed to support machine learning research for autonomous train operation, featuring synchronized IR, RGB, lidar, radar, and sensor data with extensive annotations for railway-specific objects.

Contribution

The paper introduces OSDaR23, the first publicly available multi-sensor railway dataset with detailed annotations, aimed at advancing driverless train technology.

Findings

Dataset includes 45 sequences with synchronized sensor data.

Contains over 200,000 annotations for 20 object classes.

Enables research beyond collision prediction tasks.

Abstract

To achieve a driverless train operation on mainline railways, actual and potential obstacles for the train's driveway must be detected automatically by appropriate sensor systems. Machine learning algorithms have proven to be powerful tools for this task during the last years. However, these algorithms require large amounts of high-quality annotated data containing railway-specific objects as training data. Unfortunately, all of the publicly available datasets that tackle this requirement are restricted in some way. Therefore, this paper presents OSDaR23, a multi-sensor dataset of 45 subsequences acquired in Hamburg, Germany, in September 2021, that was created to foster driverless train operation on mainline railways. The sensor setup consists of multiple calibrated and synchronized infrared (IR) and visual (RGB) cameras, lidars, a radar, and position and acceleration sensors mounted on the front of a rail vehicle. In addition to the raw data, the dataset contains 204091 polyline, polygonal, rectangle, and cuboid annotations in total for 20 different object classes. It is the first publicly available multi-sensor dataset annotated with a variety of object classes that are relevant for the railway context. OSDaR23, available at data.fid-move.de/dataset/osdar23, can also be used for tasks beyond collision prediction, which are listed in this paper.