Please provide accurate affiliation and research-use information. Approved users must not redistribute the videos, annotations, download links, or derived identifiable content.

GeoTraj-LC Video Dataset

GeoTraj-LC is a fixed-camera highway surveillance dataset for geometry-rectified vehicle trajectory analysis and online lane-change event detection. The dataset contains video clips, MOT-style vehicle tracks, lane IDs, manually refined frame-level lane-change labels, lane maps, homography matrices, and metric scale factors.

Access to the video data is gated. The dataset is provided only for non-commercial academic research after manual review by the maintainers.

Dataset Contents

The release is organized around eight fixed roadside highway scenes:

G0512-K111
G4202-K32
G4215-K12
S2-K152
S2-K188_0
S2-K188_1
S2-K201
S3-K316

Each scene contains multiple clips named with the following convention:

{sequence_name}_clip_{clip_number}.txt

Example:

G0512-K111_clip_0000.txt
S2-K188_0_clip_0001.txt

The expected dataset layout is:

RLC_Dataset/
|-- annotations/
|   |-- events/
|   `-- frame_labels/
|-- maps/
|   |-- centerlines/
|   |-- homography/
|   |-- lane_boundaries/
|   `-- scale_factors.json
|-- tracks/
|   |-- mot_raw/
|   `-- refined/
`-- videos/

Track Format

Refined track files are stored under:

RLC_Dataset/tracks/refined/*.txt

Each row follows a MOT-style format with an additional lane ID column:

frame_id, track_id, x1, y1, w, h, score, cls, lane_id

The lane-change detector uses the bottom-center point of each vehicle bounding box as the trajectory point. The point is projected from image coordinates to the road plane using the scene homography and then converted to metric coordinates using the sequence-specific scale factor.

Annotation Format

Frame-level labels are stored under:

RLC_Dataset/annotations/frame_labels/*.txt

Each row extends the track format with manually refined lane state and evaluation labels:

frame_id, track_id, x1, y1, w, h, score, cls, lane_id, gt_state, eval_label

The lane-change state is:

0: stable lane keeping
1: left lane change
2: right lane change

A complete lane-change event starts when the vehicle first crosses the lane marking and ends when the vehicle fully enters the target lane. Some clips contain incomplete lane-change events because vehicles may enter the camera view while already changing lanes or leave the camera view before the maneuver is finished.

Scene-Based Split

The default split is scene-based so that training, validation, and test clips do not share the same camera scene:

Split	Scene prefixes
train	G4202-K32, S2-K188_0, S2-K188_1, S3-K316
val	G4215-K12, S2-K201
test	G0512-K111, S2-K152

Dataset statistics:

Split	Clips	Tracks	Left LC	Right LC	Total LC
train	38	9102	482	308	790
val	17	3126	98	137	235
test	21	10509	389	351	740
total	76	22737	969	796	1765

Scale Factors

The road-plane scale factors convert projected road-plane coordinates to metric coordinates:

Scene	Scale factor
G0512-K111	20.0
G4202-K32	9.5
G4215-K12	9.17
S2-K152	5.17
S2-K188_0	3.5
S2-K188_1	3.5
S2-K201	6.0
S3-K316	6.83

Access Conditions

By requesting access, users agree to:

use the dataset only for non-commercial academic research;
not redistribute the dataset, videos, annotations, download links, or modified copies;
not attempt to identify individuals, vehicles, institutions, or sensitive locations from the videos;
store the dataset securely and restrict access to approved project members;
cite the associated paper and dataset page in publications or public reports.

See DATASET_TERMS.md and LICENSE.txt for the full terms.

Citation

If you use this dataset, please cite the associated paper and this dataset page.

@misc{geotrajlc_dataset,
  title        = {GeoTraj-LC Video Dataset},
  author       = {REPLACE_WITH_AUTHOR_LIST},
  year         = {2026},
  howpublished = {\url{REPLACE_WITH_DATASET_URL}},
  note         = {Accessed under a non-commercial academic research license}
}

Contact

For dataset access questions, contact:

REPLACE_WITH_CONTACT_NAME
REPLACE_WITH_CONTACT_EMAIL
REPLACE_WITH_INSTITUTION

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