OnSiteVRU: A High-Resolution Trajectory Dataset for High-Density Vulnerable Road Users

Leveraging multimodal data from intersections, road sections, and urban villages, combined with high-precision radar and computer vision algorithms, the dataset emphasizes high-density interaction events. By systematically reviewing VRU dataset advancements and technical challenges, this study provides theoretical and practical guidance for future dataset development. As technology and ecosystems evolve, VRU datasets will play an increasingly vital role in autonomous driving safety research, laying a robust foundation for global transportation safety and intelligent traffic systems.Dataset Name Location Setting Composition Collection Method Purpose Mix-t India Urban roads Mixed traffic flow Roadside camera Mixed flow modeling BIWI Hotel Switzerland Entrance/Exit Pedestrians Roadside camera Behavior modeling BIWI ETH Switzerland Campus roads Pedestrians Roadside camera Behavior modeling Crowds UCY/Zara USA Campus and urban roads Pedestrians Roadside camera Behavior modeling Ko-PER Germany Urban intersections Mixed traffic flow Roadside camera Behavior modeling VRU Germany Urban intersections Mixed traffic flow Roadside camera Behavior modeling DUT / CITR Germany Campus roads Vehicles and pedestrians Drone Behavior modeling Stanford Drone USA Campus Mixed traffic flow Drone Behavior modeling LUMPI Germany Signalized intersections Mixed traffic flow Radar, roadside camera Traffic safety analysis UniD Germany Campus roads Mixed traffic flow Drone Behavior prediction INTERACTION USA/China Intersections Vehicles Drone, roadside Behavior modeling V2X-Seq China Intersections Mixed traffic flow Radar, roadside camera Autonomous driving testing InD? Germany Intersections Mixed traffic flow Drone Interaction behavior ApolloScape? China Urban roads Mixed traffic flow Radar, roadside camera Autonomous driving TRAF India Intersections Mixed traffic flow Drone Behavior modeling Waymo USA Urban roads Mixed traffic flow Onboard radar Autonomous driving testing IDD-X India Intersections Mixed traffic flow Onboard camera Behavior modeling Kitti? Germany Urban roads Mixed traffic flow Onboard camera, radar Autonomous driving testing SinD? China Intersections Mixed traffic flow Onboard camera, radar Autonomous driving testing Table 1: Summary of Dataset Information 3. Dataset Construction In this section, we outline the detailed process of dataset construction, covering location selection, data collection, data processing, map generation, and other key aspects.