Acoustic vehicle speed estimation from single sensor measurements

The VS10 dataset contains video recordings of ten vehicles (Citroen C4 Picasso, Mazda 3 Skyactive, Mercedes AMG 550, Nissan Qashqai, Opel Insignia, Peugeot 3008, Peugeot 307, Renault Captur, Renault Scenic and VW Passat B7) passing by the camera at a known constant speed. Specification of vehicles (engine type, power, transmission type and production year) is given in Table 1 in the paper. The dataset comprises 304 video recordings (MP4 format, full HD resolution, 30 fps, 10-second length), each containing a single drive of a single vehicle. The speed of vehicles ranges from 30 to 105 km/h (exact values given in Table 1 in the paper). The speed is maintained stable by the on-board cruise control, all vehicles were equipped with.

Annotation text files contain the speed of a vehicle and its pass-by-camera instant. Relative time from the beginning of the file, given in seconds with a two-decimal precision, was measured. Precise annotations were obtained by visual screening, i.e., by identifying a video frame when a vehicle starts to exit the camera view, which approximately corresponds to the closest point of approach.

For dataset recording, we used a GoPro Hero5 Session camera. It was installed by the road, at a distance of around 0.5 m from the road and at a height of around 1.2 m. The camera was installed in various positions (both sides of the road and different angles of the camera with respect to the road) in order not to be sensitive to the actual camera position.

The VS10 dataset can be downloaded from two separate folders: Video + annotations and Audio + annotations, given below. It is suitable for both video- and audio-based vehicle speed estimation.

Sample video files of each vehicle. The dataset was recorded on a local road, 622 m long, located 90 m away from the main road Podgorica-Petrovac in Montenegro.