Upload HighwayScene v1.0 dataset

.gitignore

@@ -0,0 +1,8 @@
+.cache/
+__pycache__/
+outputs/
+models/
+valid_frame_ids.npz
+*/valid_frame_ids.npz
+*.ply
+*.pkl

LICENSE

@@ -0,0 +1,438 @@
+Attribution-NonCommercial-ShareAlike 4.0 International
+
+=======================================================================
+
+Creative Commons Corporation ("Creative Commons") is not a law firm and
+does not provide legal services or legal advice. Distribution of
+Creative Commons public licenses does not create a lawyer-client or
+other relationship. Creative Commons makes its licenses and related
+information available on an "as-is" basis. Creative Commons gives no
+warranties regarding its licenses, any material licensed under their
+terms and conditions, or any related information. Creative Commons
+disclaims all liability for damages resulting from their use to the
+fullest extent possible.
+
+Using Creative Commons Public Licenses
+
+Creative Commons public licenses provide a standard set of terms and
+conditions that creators and other rights holders may use to share
+original works of authorship and other material subject to copyright
+and certain other rights specified in the public license below. The
+following considerations are for informational purposes only, are not
+exhaustive, and do not form part of our licenses.
+
+     Considerations for licensors: Our public licenses are
+     intended for use by those authorized to give the public
+     permission to use material in ways otherwise restricted by
+     copyright and certain other rights. Our licenses are
+     irrevocable. Licensors should read and understand the terms
+     and conditions of the license they choose before applying it.
+     Licensors should also secure all rights necessary before
+     applying our licenses so that the public can reuse the
+     material as expected. Licensors should clearly mark any
+     material not subject to the license. This includes other CC-
+     licensed material, or material used under an exception or
+     limitation to copyright. More considerations for licensors:
+    wiki.creativecommons.org/Considerations_for_licensors
+
+     Considerations for the public: By using one of our public
+     licenses, a licensor grants the public permission to use the
+     licensed material under specified terms and conditions. If
+     the licensor's permission is not necessary for any reason--for
+     example, because of any applicable exception or limitation to
+     copyright--then that use is not regulated by the license. Our
+     licenses grant only permissions under copyright and certain
+     other rights that a licensor has authority to grant. Use of
+     the licensed material may still be restricted for other
+     reasons, including because others have copyright or other
+     rights in the material. A licensor may make special requests,
+     such as asking that all changes be marked or described.
+     Although not required by our licenses, you are encouraged to
+     respect those requests where reasonable. More considerations
+     for the public:
+    wiki.creativecommons.org/Considerations_for_licensees
+
+=======================================================================
+
+Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International
+Public License
+
+By exercising the Licensed Rights (defined below), You accept and agree
+to be bound by the terms and conditions of this Creative Commons
+Attribution-NonCommercial-ShareAlike 4.0 International Public License
+("Public License"). To the extent this Public License may be
+interpreted as a contract, You are granted the Licensed Rights in
+consideration of Your acceptance of these terms and conditions, and the
+Licensor grants You such rights in consideration of benefits the
+Licensor receives from making the Licensed Material available under
+these terms and conditions.
+
+
+Section 1 -- Definitions.
+
+  a. Adapted Material means material subject to Copyright and Similar
+     Rights that is derived from or based upon the Licensed Material
+     and in which the Licensed Material is translated, altered,
+     arranged, transformed, or otherwise modified in a manner requiring
+     permission under the Copyright and Similar Rights held by the
+     Licensor. For purposes of this Public License, where the Licensed
+     Material is a musical work, performance, or sound recording,
+     Adapted Material is always produced where the Licensed Material is
+     synched in timed relation with a moving image.
+
+  b. Adapter's License means the license You apply to Your Copyright
+     and Similar Rights in Your contributions to Adapted Material in
+     accordance with the terms and conditions of this Public License.
+
+  c. BY-NC-SA Compatible License means a license listed at
+     creativecommons.org/compatiblelicenses, approved by Creative
+     Commons as essentially the equivalent of this Public License.
+
+  d. Copyright and Similar Rights means copyright and/or similar rights
+     closely related to copyright including, without limitation,
+     performance, broadcast, sound recording, and Sui Generis Database
+     Rights, without regard to how the rights are labeled or
+     categorized. For purposes of this Public License, the rights
+     specified in Section 2(b)(1)-(2) are not Copyright and Similar
+     Rights.
+
+  e. Effective Technological Measures means those measures that, in the
+     absence of proper authority, may not be circumvented under laws
+     fulfilling obligations under Article 11 of the WIPO Copyright
+     Treaty adopted on December 20, 1996, and/or similar international
+     agreements.
+
+  f. Exceptions and Limitations means fair use, fair dealing, and/or
+     any other exception or limitation to Copyright and Similar Rights
+     that applies to Your use of the Licensed Material.
+
+  g. License Elements means the license attributes listed in the name
+     of a Creative Commons Public License. The License Elements of this
+     Public License are Attribution, NonCommercial, and ShareAlike.
+
+  h. Licensed Material means the artistic or literary work, database,
+     or other material to which the Licensor applied this Public
+     License.
+
+  i. Licensed Rights means the rights granted to You subject to the
+     terms and conditions of this Public License, which are limited to
+     all Copyright and Similar Rights that apply to Your use of the
+     Licensed Material and that the Licensor has authority to license.
+
+  j. Licensor means the individual(s) or entity(ies) granting rights
+     under this Public License.
+
+  k. NonCommercial means not primarily intended for or directed towards
+     commercial advantage or monetary compensation. For purposes of
+     this Public License, the exchange of the Licensed Material for
+     other material subject to Copyright and Similar Rights by digital
+     file-sharing or similar means is NonCommercial provided there is
+     no payment of monetary compensation in connection with the
+     exchange.
+
+  l. Share means to provide material to the public by any means or
+     process that requires permission under the Licensed Rights, such
+     as reproduction, public display, public performance, distribution,
+     dissemination, communication, or importation, and to make material
+     available to the public including in ways that members of the
+     public may access the material from a place and at a time
+     individually chosen by them.
+
+  m. Sui Generis Database Rights means rights other than copyright
+     resulting from Directive 96/9/EC of the European Parliament and of
+     the Council of 11 March 1996 on the legal protection of databases,
+     as amended and/or succeeded, as well as other essentially
+     equivalent rights anywhere in the world.
+
+  n. You means the individual or entity exercising the Licensed Rights
+     under this Public License. Your has a corresponding meaning.
+
+
+Section 2 -- Scope.
+
+  a. License grant.
+
+       1. Subject to the terms and conditions of this Public License,
+          the Licensor hereby grants You a worldwide, royalty-free,
+          non-sublicensable, non-exclusive, irrevocable license to
+          exercise the Licensed Rights in the Licensed Material to:
+
+            a. reproduce and Share the Licensed Material, in whole or
+               in part, for NonCommercial purposes only; and
+
+            b. produce, reproduce, and Share Adapted Material for
+               NonCommercial purposes only.
+
+       2. Exceptions and Limitations. For the avoidance of doubt, where
+          Exceptions and Limitations apply to Your use, this Public
+          License does not apply, and You do not need to comply with
+          its terms and conditions.
+
+       3. Term. The term of this Public License is specified in Section
+          6(a).
+
+       4. Media and formats; technical modifications allowed. The
+          Licensor authorizes You to exercise the Licensed Rights in
+          all media and formats whether now known or hereafter created,
+          and to make technical modifications necessary to do so. The
+          Licensor waives and/or agrees not to assert any right or
+          authority to forbid You from making technical modifications
+          necessary to exercise the Licensed Rights, including
+          technical modifications necessary to circumvent Effective
+          Technological Measures. For purposes of this Public License,
+          simply making modifications authorized by this Section 2(a)
+          (4) never produces Adapted Material.
+
+       5. Downstream recipients.
+
+            a. Offer from the Licensor -- Licensed Material. Every
+               recipient of the Licensed Material automatically
+               receives an offer from the Licensor to exercise the
+               Licensed Rights under the terms and conditions of this
+               Public License.
+
+            b. Additional offer from the Licensor -- Adapted Material.
+               Every recipient of Adapted Material from You
+               automatically receives an offer from the Licensor to
+               exercise the Licensed Rights in the Adapted Material
+               under the conditions of the Adapter's License You apply.
+
+            c. No downstream restrictions. You may not offer or impose
+               any additional or different terms or conditions on, or
+               apply any Effective Technological Measures to, the
+               Licensed Material if doing so restricts exercise of the
+               Licensed Rights by any recipient of the Licensed
+               Material.
+
+       6. No endorsement. Nothing in this Public License constitutes or
+          may be construed as permission to assert or imply that You
+          are, or that Your use of the Licensed Material is, connected
+          with, or sponsored, endorsed, or granted official status by,
+          the Licensor or others designated to receive attribution as
+          provided in Section 3(a)(1)(A)(i).
+
+  b. Other rights.
+
+       1. Moral rights, such as the right of integrity, are not
+          licensed under this Public License, nor are publicity,
+          privacy, and/or other similar personality rights; however, to
+          the extent possible, the Licensor waives and/or agrees not to
+          assert any such rights held by the Licensor to the limited
+          extent necessary to allow You to exercise the Licensed
+          Rights, but not otherwise.
+
+       2. Patent and trademark rights are not licensed under this
+          Public License.
+
+       3. To the extent possible, the Licensor waives any right to
+          collect royalties from You for the exercise of the Licensed
+          Rights, whether directly or through a collecting society
+          under any voluntary or waivable statutory or compulsory
+          licensing scheme. In all other cases the Licensor expressly
+          reserves any right to collect such royalties, including when
+          the Licensed Material is used other than for NonCommercial
+          purposes.
+
+
+Section 3 -- License Conditions.
+
+Your exercise of the Licensed Rights is expressly made subject to the
+following conditions.
+
+  a. Attribution.
+
+       1. If You Share the Licensed Material (including in modified
+          form), You must:
+
+            a. retain the following if it is supplied by the Licensor
+               with the Licensed Material:
+
+                 i. identification of the creator(s) of the Licensed
+                    Material and any others designated to receive
+                    attribution, in any reasonable manner requested by
+                    the Licensor (including by pseudonym if
+                    designated);
+
+                ii. a copyright notice;
+
+               iii. a notice that refers to this Public License;
+
+                iv. a notice that refers to the disclaimer of
+                    warranties;
+
+                 v. a URI or hyperlink to the Licensed Material to the
+                    extent reasonably practicable;
+
+            b. indicate if You modified the Licensed Material and
+               retain an indication of any previous modifications; and
+
+            c. indicate the Licensed Material is licensed under this
+               Public License, and include the text of, or the URI or
+               hyperlink to, this Public License.
+
+       2. You may satisfy the conditions in Section 3(a)(1) in any
+          reasonable manner based on the medium, means, and context in
+          which You Share the Licensed Material. For example, it may be
+          reasonable to satisfy the conditions by providing a URI or
+          hyperlink to a resource that includes the required
+          information.
+       3. If requested by the Licensor, You must remove any of the
+          information required by Section 3(a)(1)(A) to the extent
+          reasonably practicable.
+
+  b. ShareAlike.
+
+     In addition to the conditions in Section 3(a), if You Share
+     Adapted Material You produce, the following conditions also apply.
+
+       1. The Adapter's License You apply must be a Creative Commons
+          license with the same License Elements, this version or
+          later, or a BY-NC-SA Compatible License.
+
+       2. You must include the text of, or the URI or hyperlink to, the
+          Adapter's License You apply. You may satisfy this condition
+          in any reasonable manner based on the medium, means, and
+          context in which You Share Adapted Material.
+
+       3. You may not offer or impose any additional or different terms
+          or conditions on, or apply any Effective Technological
+          Measures to, Adapted Material that restrict exercise of the
+          rights granted under the Adapter's License You apply.
+
+
+Section 4 -- Sui Generis Database Rights.
+
+Where the Licensed Rights include Sui Generis Database Rights that
+apply to Your use of the Licensed Material:
+
+  a. for the avoidance of doubt, Section 2(a)(1) grants You the right
+     to extract, reuse, reproduce, and Share all or a substantial
+     portion of the contents of the database for NonCommercial purposes
+     only;
+
+  b. if You include all or a substantial portion of the database
+     contents in a database in which You have Sui Generis Database
+     Rights, then the database in which You have Sui Generis Database
+     Rights (but not its individual contents) is Adapted Material,
+     including for purposes of Section 3(b); and
+
+  c. You must comply with the conditions in Section 3(a) if You Share
+     all or a substantial portion of the contents of the database.
+
+For the avoidance of doubt, this Section 4 supplements and does not
+replace Your obligations under this Public License where the Licensed
+Rights include other Copyright and Similar Rights.
+
+
+Section 5 -- Disclaimer of Warranties and Limitation of Liability.
+
+  a. UNLESS OTHERWISE SEPARATELY UNDERTAKEN BY THE LICENSOR, TO THE
+     EXTENT POSSIBLE, THE LICENSOR OFFERS THE LICENSED MATERIAL AS-IS
+     AND AS-AVAILABLE, AND MAKES NO REPRESENTATIONS OR WARRANTIES OF
+     ANY KIND CONCERNING THE LICENSED MATERIAL, WHETHER EXPRESS,
+     IMPLIED, STATUTORY, OR OTHER. THIS INCLUDES, WITHOUT LIMITATION,
+     WARRANTIES OF TITLE, MERCHANTABILITY, FITNESS FOR A PARTICULAR
+     PURPOSE, NON-INFRINGEMENT, ABSENCE OF LATENT OR OTHER DEFECTS,
+     ACCURACY, OR THE PRESENCE OR ABSENCE OF ERRORS, WHETHER OR NOT
+     KNOWN OR DISCOVERABLE. WHERE DISCLAIMERS OF WARRANTIES ARE NOT
+     ALLOWED IN FULL OR IN PART, THIS DISCLAIMER MAY NOT APPLY TO YOU.
+
+  b. TO THE EXTENT POSSIBLE, IN NO EVENT WILL THE LICENSOR BE LIABLE
+     TO YOU ON ANY LEGAL THEORY (INCLUDING, WITHOUT LIMITATION,
+     NEGLIGENCE) OR OTHERWISE FOR ANY DIRECT, SPECIAL, INDIRECT,
+     INCIDENTAL, CONSEQUENTIAL, PUNITIVE, EXEMPLARY, OR OTHER LOSSES,
+     COSTS, EXPENSES, OR DAMAGES ARISING OUT OF THIS PUBLIC LICENSE OR
+     USE OF THE LICENSED MATERIAL, EVEN IF THE LICENSOR HAS BEEN
+     ADVISED OF THE POSSIBILITY OF SUCH LOSSES, COSTS, EXPENSES, OR
+     DAMAGES. WHERE A LIMITATION OF LIABILITY IS NOT ALLOWED IN FULL OR
+     IN PART, THIS LIMITATION MAY NOT APPLY TO YOU.
+
+  c. The disclaimer of warranties and limitation of liability provided
+     above shall be interpreted in a manner that, to the extent
+     possible, most closely approximates an absolute disclaimer and
+     waiver of all liability.
+
+
+Section 6 -- Term and Termination.
+
+  a. This Public License applies for the term of the Copyright and
+     Similar Rights licensed here. However, if You fail to comply with
+     this Public License, then Your rights under this Public License
+     terminate automatically.
+
+  b. Where Your right to use the Licensed Material has terminated under
+     Section 6(a), it reinstates:
+
+       1. automatically as of the date the violation is cured, provided
+          it is cured within 30 days of Your discovery of the
+          violation; or
+
+       2. upon express reinstatement by the Licensor.
+
+     For the avoidance of doubt, this Section 6(b) does not affect any
+     right the Licensor may have to seek remedies for Your violations
+     of this Public License.
+
+  c. For the avoidance of doubt, the Licensor may also offer the
+     Licensed Material under separate terms or conditions or stop
+     distributing the Licensed Material at any time; however, doing so
+     will not terminate this Public License.
+
+  d. Sections 1, 5, 6, 7, and 8 survive termination of this Public
+     License.
+
+
+Section 7 -- Other Terms and Conditions.
+
+  a. The Licensor shall not be bound by any additional or different
+     terms or conditions communicated by You unless expressly agreed.
+
+  b. Any arrangements, understandings, or agreements regarding the
+     Licensed Material not stated herein are separate from and
+     independent of the terms and conditions of this Public License.
+
+
+Section 8 -- Interpretation.
+
+  a. For the avoidance of doubt, this Public License does not, and
+     shall not be interpreted to, reduce, limit, restrict, or impose
+     conditions on any use of the Licensed Material that could lawfully
+     be made without permission under this Public License.
+
+  b. To the extent possible, if any provision of this Public License is
+     deemed unenforceable, it shall be automatically reformed to the
+     minimum extent necessary to make it enforceable. If the provision
+     cannot be reformed, it shall be severed from this Public License
+     without affecting the enforceability of the remaining terms and
+     conditions.
+
+  c. No term or condition of this Public License will be waived and no
+     failure to comply consented to unless expressly agreed to by the
+     Licensor.
+
+  d. Nothing in this Public License constitutes or may be interpreted
+     as a limitation upon, or waiver of, any privileges and immunities
+     that apply to the Licensor or You, including from the legal
+     processes of any jurisdiction or authority.
+
+=======================================================================
+
+Creative Commons is not a party to its public
+licenses. Notwithstanding, Creative Commons may elect to apply one of
+its public licenses to material it publishes and in those instances
+will be considered the “Licensor.” The text of the Creative Commons
+public licenses is dedicated to the public domain under the CC0 Public
+Domain Dedication. Except for the limited purpose of indicating that
+material is shared under a Creative Commons public license or as
+otherwise permitted by the Creative Commons policies published at
+creativecommons.org/policies, Creative Commons does not authorize the
+use of the trademark "Creative Commons" or any other trademark or logo
+of Creative Commons without its prior written consent including,
+without limitation, in connection with any unauthorized modifications
+to any of its public licenses or any other arrangements,
+understandings, or agreements concerning use of licensed material. For
+the avoidance of doubt, this paragraph does not form part of the
+public licenses.
+
+Creative Commons may be contacted at creativecommons.org.
+

README.md

@@ -1,3 +1,155 @@
 ---
-license: mit
+pretty_name: HighwayScene
+license: cc-by-nc-sa-4.0
+tags:
+  - lidar
+  - roadside-perception
+  - background-subtraction
+  - intelligent-transportation-systems
+size_categories:
+  - 1K<n<10K
 ---
+
+# HighwayScene
+
+HighwayScene is a synchronized multi-LiDAR dataset recorded from a static
+roadside installation at a highway construction site. It was introduced for
+the cross-sensor benchmark in **Beam-Wise Statistical Background Subtraction
+for Static Roadside LiDAR: A Cross-Sensor Benchmark Study**.
+
+The recording contains free-flowing, dense highway traffic under a legally
+enforced speed limit of 40 km/h. Three LiDAR technologies observe the same
+scene:
+
+| Sensor | Principle | Nominal rate |
+|---|---|---:|
+| Ouster OS0 | Rotating time-of-flight | 10 Hz |
+| Aeva Aeries II | FMCW | 10 Hz |
+| Blickfeld QB2 | Solid-state time-of-flight | 5 Hz |
+
+Project resources:
+
+- [Project page](https://highwayscene.github.io/)
+- [Background-subtraction code](https://github.com/HighwayScene/roadside-lidar-background-subtraction)
+- [Dataset repository](https://huggingface.co/datasets/iis-esslingen/HighwayScene)
+
+## Dataset structure
+
+The original protobuf records are published without generated caches or model
+outputs. Record filenames encode their inclusive global frame-ID range and
+must not be renamed.
+
+```text
+HighwayScene/
+├── metadata/
+│   ├── ground_truth.yaml
+│   ├── manifest.json
+│   └── SHA256SUMS
+├── train/
+│   └── *.pb
+├── val/
+│   └── *.pb
+└── test/
+    └── *.pb
+```
+
+| Split | Record files | Global frame IDs | Records | Ouster frames | Aeva frames | Blickfeld frames |
+|---|---:|---:|---:|---:|---:|---:|
+| train | 20 | 1–4000 | 4000 | 4000 | 4000 | 2008 |
+| validation | 5 | 4001–5000 | 1000 | 1000 | 1000 | 503 |
+| test | 5 | 5001–5998 | 998 | 998 | 994 | 503 |
+| **total** | **30** | **1–5998** | **5998** | **5998** | **5994** | **3014** |
+
+Sensor-frame counts differ because the Blickfeld sensor operates at 5 Hz and
+some records do not contain a usable point cloud for every sensor.
+
+## File format and loading
+
+Each `.pb` file contains protobuf-serialized frames with the available LiDAR
+point clouds, sensor identifiers, scan indices, calibration values, and Aeva
+radial velocities. The reference implementation uses `a42-proto==0.4.2`.
+
+Download a local snapshot with `huggingface_hub`:
+
+```python
+from huggingface_hub import snapshot_download
+
+dataset_root = snapshot_download(
+    repo_id="iis-esslingen/HighwayScene",
+    repo_type="dataset",
+    local_dir="/path/to/HighwayScene",
+)
+```
+
+The reference adapter and complete paper configurations are provided by the
+code repository. After installing the project, a paper reproduction run can be
+started with:
+
+```bash
+static-bg-subtraction reproduce-paper \
+  --highwayscene-root /path/to/HighwayScene \
+  --coopscenes-root /path/to/CoopScenes \
+  --output-dir outputs/paper
+```
+
+## Ground truth
+
+HighwayScene uses two reproducible static/dynamic labeling strategies:
+
+- Ouster and Blickfeld points are labeled from fixed lane-aligned 3D regions
+  of interest and the corresponding ground-plane definitions.
+- Aeva points are labeled dynamic when the absolute measured radial velocity
+  exceeds 1 m/s.
+
+The immutable parameters used for the paper benchmark are stored in
+`metadata/ground_truth.yaml` and are mirrored by the tagged reference code.
+The raw dataset does not contain separate generated point-wise label files.
+
+## Integrity
+
+`metadata/manifest.json` describes the released split and sensor counts.
+`metadata/SHA256SUMS` contains a SHA-256 checksum for every protobuf record and
+the ground-truth snapshot.
+
+## Intended use and limitations
+
+The dataset supports research on background modeling, dynamic-point
+segmentation, roadside LiDAR processing, and comparisons across heterogeneous
+scan patterns. The benchmark methods assume a statically mounted sensor with a
+known, fixed scan pattern and a temporally stable static background. Results
+may not transfer directly to moving sensors, changed sensor poses, or scenes
+with substantial long-term structural changes.
+
+## License
+
+HighwayScene is released under the [Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International](https://creativecommons.org/licenses/by-nc-sa/4.0/) license. See `LICENSE` for the complete legal text.
+
+Suggested attribution: `HighwayScene, Alexander Baumann, Marcel Voßhans, and Thao Dang, CC BY-NC-SA 4.0`. Please also cite the accompanying paper.
+
+Commercial use is not permitted under this license. For questions about commercial use, contact `alexander.baumann@hs-esslingen.de`.
+
+## Citation
+
+If you use HighwayScene, please cite the accompanying paper:
+
+```bibtex
+@inproceedings{baumann2026beamwise,
+  author    = {Alexander Baumann and Marcel Vo{\ss}hans and Thao Dang},
+  title     = {Beam-Wise Statistical Background Subtraction for Static
+               Roadside {LiDAR}: A Cross-Sensor Benchmark Study},
+  booktitle = {IEEE International Conference on Intelligent Transportation
+               Systems (ITSC)},
+  year      = {2026}
+}
+```
+
+Final DOI and proceedings metadata will be added after publication.
+
+## Authors
+
+- Alexander Baumann
+- Marcel Voßhans
+- Thao Dang
+
+Institute for Intelligent Systems, Esslingen University of Applied Sciences,
+Germany. Contact: `alexander.baumann@hs-esslingen.de`.

metadata/SHA256SUMS

@@ -0,0 +1,31 @@
+440ba21424f7b221317dd899edb57ffc3f3d29d7050a34c185ec50cd6f6c5b9e  test/20260209_153242_05001-05200.pb
+99365bdd1d49d180eb83fda2b3221e798e6ee2cce269568b26a1d7351b8c2411  test/20260209_153242_05201-05400.pb
+5d78b86375bab005e1e210ff6022ff8ea42e115fabc51e06a54df012404fba83  test/20260209_153242_05401-05600.pb
+9f02549e8edd6254bbb99107969d5a68d726fbda593954883147a84cda0e1962  test/20260209_153242_05601-05800.pb
+22befb94b39a7e81e03b5ae4046f7ea8e9b0423570ff45d5aa58df1f1f2827b7  test/20260209_153242_05801-05998.pb
+fc02a477358ef2ed64f5ce8a77c77dae28184a3d2df1d7b61fb3ed027cb46188  train/20260209_153242_00001-00200.pb
+d80953e454490d3853d72ae9cf3f5335d4b2ec685e89d454913175beaf09ad71  train/20260209_153242_00201-00400.pb
+28995ecb5b98046ae127351b3a584738224f69218b3d5817d9ce32fac6df1e91  train/20260209_153242_00401-00600.pb
+48ab9db6e48b59c7f72e4db45925cf8c0d7fc933a0c772216a73532b3bc10adc  train/20260209_153242_00601-00800.pb
+b25cc563e85f89a830f654eec9237af615542b218ef618dc6c710a4608da0147  train/20260209_153242_00801-01000.pb
+b3454dbb6a6c92ebd54e19fb573a9ce8fe45bbfbe4d682651dd7a2945f52091b  train/20260209_153242_01001-01200.pb
+44bb9c5d3f1cdee9bdab30494e100694eaea3d0d23870643c56c585803f8943e  train/20260209_153242_01201-01400.pb
+5ef55cb18af32bc93db8dea4b5af5759f69c0b22eb033bef6e14822b6fd5f562  train/20260209_153242_01401-01600.pb
+78322d342633f07fe4a0b2bda5c2c62ced66682a1bab227b942c78fe44f4ed30  train/20260209_153242_01601-01800.pb
+0d9478a51c3e45683a47b6de0256f2c0b5585d2e065a2945b865e1bc6defaa9a  train/20260209_153242_01801-02000.pb
+2b874e893dbfa3d2ba03e82a02cc36c489f0f9de411d681319fa8fe59899360e  train/20260209_153242_02001-02200.pb
+59ccb65cc39c3783416d713ac347aaf839de82c8d04ff287bf16b143d6780083  train/20260209_153242_02201-02400.pb
+4593faeab99bc11c819d44860ee1d9184fe6d7d7ef7d40955c7de521262b35a9  train/20260209_153242_02401-02600.pb
+521051bc272f5c8f0f54233f763cbf83162fc6e8f87065aa8c5b947750a4e448  train/20260209_153242_02601-02800.pb
+ab1d3e3912a435ff25bf83574427c9f20d5d45b8bb6906f7559412b50b0e09b3  train/20260209_153242_02801-03000.pb
+03a83144fee0b4ef62c2c1a90bd94ed2c18ae0df5f3e21171b95709799d2e1e7  train/20260209_153242_03001-03200.pb
+d4e911589b4cd1eac10573c70438cf163f5a6d6d29a0d7a0e128e19a871e4a40  train/20260209_153242_03201-03400.pb
+555b6d1d9e762da9c0fe03a0bab9841385aba9b31354af37cca7baa84311d8e0  train/20260209_153242_03401-03600.pb
+f0881b4ee7dfc40e02fcd906afcc7a043c0264541aee865a9837957afb27fbee  train/20260209_153242_03601-03800.pb
+081b461763ad3bbfd25fafefa81c06187ff234361317275a189e6a3358eb0425  train/20260209_153242_03801-04000.pb
+d29f027526fadf8632c00ca0a45a2dc88d6227c85343231b7eec7d37262f24dd  val/20260209_153242_04001-04200.pb
+e234e7e77a2394e6f8ae98fae7365a3e9386d379c71b5cc0815649d72a7dd11a  val/20260209_153242_04201-04400.pb
+f571cf20f6d5b70fac5afb27da63a8c2df0d5d8fa08085122c06c4fe1fc7b943  val/20260209_153242_04401-04600.pb
+c29b953cf17d2ed045376b087fb9df2b62b913a96cfdbdbe5e4cce07735316ab  val/20260209_153242_04601-04800.pb
+8ad1ffce953789a8e4b38dcb5b650f747133e844d7981444e5983533a1cfae1b  val/20260209_153242_04801-05000.pb
+e492676f26e3aa5d5adb2bd4299a7b9f58a85c80e14f5fe0a03b8988ad1aa027  metadata/ground_truth.yaml

metadata/ground_truth.yaml

@@ -0,0 +1,43 @@
+# Immutable HighwayScene paper ground-truth definitions.
+# Changes require scientific review and an explicit snapshot-hash update.
+aeva:
+  velocity_threshold: 1
+  ground_plane:
+    normal: [ -0.153753, 0.014142, 0.988008 ]
+    point: [ 24.322, -2.637, -1.869 ]
+
+ouster:
+  ground_plane:
+    normal: [ -0.014438, 0.052576, 0.998513 ]
+    point: [ 0.411, -0.084, -2.081 ]
+  bboxes:
+    - center: [ 2.35, -4.5, 0.5 ]
+      size: [ 100, 3.4, 5 ]
+      rpy_deg: [ -179.5, 0.3, -24.5 ]
+    - center: [ 2.35, 2.9 , 0 ]
+      size: [ 100, 4.2, 3.9 ]
+      rpy_deg: [ -179.5, 0.3, -24.5 ]
+    - center: [ 27.4,  -8.5,  2.2 ]
+      size: [ 45, 4.2, 1 ]
+      rpy_deg: [ -179.5, 0.3, -24.5 ]
+    - center: [ -19.9, 13.0, 2.5 ]
+      size: [ 51, 4.2, 1 ]
+      rpy_deg: [ -179.5, 0.3, -24.5 ]
+    - center: [ 5.1, 1.4, 2.3 ]
+      size: [ 4.3, 3.7, 1 ]
+      rpy_deg: [ -179.5, 0.3, -24.5 ]
+    - center: [ 2.35, -8.4 , 0.5 ]
+      size: [ 100, 2.8, 5 ]
+      rpy_deg: [ -179.5, 0.3, -24.5 ]
+    - center: [ 2.35, -22 , 0.4 ]
+      size: [ 100, 14, 5 ]
+      rpy_deg: [ -179.5, 0.3, -24.5 ]
+
+blickfeld:
+  ground_plane:
+    normal: [ -0.002152, -0.004747, 0.999986 ]
+    point: [ 1.839, 5.250, 0.019 ]
+  bboxes:
+    - center: [ -0.20, 30, 2.4 ]
+      size: [ 75, 4.0, 4.4 ]
+      rpy_deg: [ 180, 0, -90 ]

metadata/manifest.json

@@ -0,0 +1,78 @@
+{
+  "dataset": "HighwayScene",
+  "version": "1.0.0",
+  "license": "CC BY-NC-SA 4.0",
+  "repository": "https://huggingface.co/datasets/iis-esslingen/HighwayScene",
+  "format": {
+    "record_type": "protobuf",
+    "file_extension": ".pb",
+    "decoder_package": "a42-proto",
+    "decoder_version": "0.4.2"
+  },
+  "recording": {
+    "synchronized": true,
+    "nominal_rate_hz": 10,
+    "blickfeld_rate_hz": 5,
+    "total_records": 5998,
+    "total_files": 30,
+    "total_bytes": 26257965025
+  },
+  "sensors": {
+    "ouster": {
+      "model": "Ouster OS0",
+      "principle": "rotating time-of-flight"
+    },
+    "aeva": {
+      "model": "Aeva Aeries II",
+      "principle": "FMCW"
+    },
+    "blickfeld": {
+      "model": "Blickfeld QB2",
+      "principle": "solid-state time-of-flight"
+    }
+  },
+  "splits": {
+    "train": {
+      "files": 20,
+      "first_frame_id": 1,
+      "last_frame_id": 4000,
+      "records": 4000,
+      "valid_sensor_frames": {
+        "ouster": 4000,
+        "aeva": 4000,
+        "blickfeld": 2008
+      }
+    },
+    "val": {
+      "files": 5,
+      "first_frame_id": 4001,
+      "last_frame_id": 5000,
+      "records": 1000,
+      "valid_sensor_frames": {
+        "ouster": 1000,
+        "aeva": 1000,
+        "blickfeld": 503
+      }
+    },
+    "test": {
+      "files": 5,
+      "first_frame_id": 5001,
+      "last_frame_id": 5998,
+      "records": 998,
+      "valid_sensor_frames": {
+        "ouster": 998,
+        "aeva": 994,
+        "blickfeld": 503
+      }
+    }
+  },
+  "paper_benchmark": {
+    "training_frames": 600,
+    "maximum_range_m": 100,
+    "ground_truth_file": "metadata/ground_truth.yaml"
+  },
+  "checksums": {
+    "algorithm": "SHA-256",
+    "file": "metadata/SHA256SUMS"
+  }
+}

test/20260209_153242_05001-05200.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:440ba21424f7b221317dd899edb57ffc3f3d29d7050a34c185ec50cd6f6c5b9e
+size 879448462

test/20260209_153242_05201-05400.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99365bdd1d49d180eb83fda2b3221e798e6ee2cce269568b26a1d7351b8c2411
+size 882624075

test/20260209_153242_05401-05600.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d78b86375bab005e1e210ff6022ff8ea42e115fabc51e06a54df012404fba83
+size 884702335

test/20260209_153242_05601-05800.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f02549e8edd6254bbb99107969d5a68d726fbda593954883147a84cda0e1962
+size 872032963

test/20260209_153242_05801-05998.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22befb94b39a7e81e03b5ae4046f7ea8e9b0423570ff45d5aa58df1f1f2827b7
+size 870972219

train/20260209_153242_00001-00200.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc02a477358ef2ed64f5ce8a77c77dae28184a3d2df1d7b61fb3ed027cb46188
+size 873852799

train/20260209_153242_00201-00400.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d80953e454490d3853d72ae9cf3f5335d4b2ec685e89d454913175beaf09ad71
+size 873877609

train/20260209_153242_00401-00600.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28995ecb5b98046ae127351b3a584738224f69218b3d5817d9ce32fac6df1e91
+size 892760005

train/20260209_153242_00601-00800.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48ab9db6e48b59c7f72e4db45925cf8c0d7fc933a0c772216a73532b3bc10adc
+size 883173841

train/20260209_153242_00801-01000.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b25cc563e85f89a830f654eec9237af615542b218ef618dc6c710a4608da0147
+size 878601008

train/20260209_153242_01001-01200.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3454dbb6a6c92ebd54e19fb573a9ce8fe45bbfbe4d682651dd7a2945f52091b
+size 875988677

train/20260209_153242_01201-01400.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44bb9c5d3f1cdee9bdab30494e100694eaea3d0d23870643c56c585803f8943e
+size 872705646

train/20260209_153242_01401-01600.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ef55cb18af32bc93db8dea4b5af5759f69c0b22eb033bef6e14822b6fd5f562
+size 855513669

train/20260209_153242_01601-01800.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78322d342633f07fe4a0b2bda5c2c62ced66682a1bab227b942c78fe44f4ed30
+size 867866307

train/20260209_153242_01801-02000.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d9478a51c3e45683a47b6de0256f2c0b5585d2e065a2945b865e1bc6defaa9a
+size 871323110

train/20260209_153242_02001-02200.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b874e893dbfa3d2ba03e82a02cc36c489f0f9de411d681319fa8fe59899360e
+size 863726322

train/20260209_153242_02201-02400.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59ccb65cc39c3783416d713ac347aaf839de82c8d04ff287bf16b143d6780083
+size 879892034

train/20260209_153242_02401-02600.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4593faeab99bc11c819d44860ee1d9184fe6d7d7ef7d40955c7de521262b35a9
+size 868404018

train/20260209_153242_02601-02800.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:521051bc272f5c8f0f54233f763cbf83162fc6e8f87065aa8c5b947750a4e448
+size 878134774

train/20260209_153242_02801-03000.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab1d3e3912a435ff25bf83574427c9f20d5d45b8bb6906f7559412b50b0e09b3
+size 885766426

train/20260209_153242_03001-03200.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03a83144fee0b4ef62c2c1a90bd94ed2c18ae0df5f3e21171b95709799d2e1e7
+size 879442309

train/20260209_153242_03201-03400.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4e911589b4cd1eac10573c70438cf163f5a6d6d29a0d7a0e128e19a871e4a40
+size 872580591

train/20260209_153242_03401-03600.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:555b6d1d9e762da9c0fe03a0bab9841385aba9b31354af37cca7baa84311d8e0
+size 878110977

train/20260209_153242_03601-03800.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0881b4ee7dfc40e02fcd906afcc7a043c0264541aee865a9837957afb27fbee
+size 878326199

train/20260209_153242_03801-04000.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:081b461763ad3bbfd25fafefa81c06187ff234361317275a189e6a3358eb0425
+size 872555926

val/20260209_153242_04001-04200.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d29f027526fadf8632c00ca0a45a2dc88d6227c85343231b7eec7d37262f24dd
+size 872641060

val/20260209_153242_04201-04400.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e234e7e77a2394e6f8ae98fae7365a3e9386d379c71b5cc0815649d72a7dd11a
+size 869836759

val/20260209_153242_04401-04600.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f571cf20f6d5b70fac5afb27da63a8c2df0d5d8fa08085122c06c4fe1fc7b943
+size 881963698

val/20260209_153242_04601-04800.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c29b953cf17d2ed045376b087fb9df2b62b913a96cfdbdbe5e4cce07735316ab
+size 875217751

val/20260209_153242_04801-05000.pb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ad1ffce953789a8e4b38dcb5b650f747133e844d7981444e5983533a1cfae1b
+size 865923456