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arXiv · 2610.13077

Towards Safer Cities: A Design Process for Perception Datasets in Urban Driving Scenarios

Alexander Kroth·Cristian Martinez·Steven Peters
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Abstract

Urban environments present significant challenges for the perception systems of automated driving due to their high complexity, characterized by dense traffic, diverse obstacles, or a wide range of possible scenarios. While numerous automotive datasets exist, few focus on urban settings, and the majority are acquired exclusively on passenger cars and overlook other transport modalities such as heavy-duty trucks, busses and trams. In contrast to passenger vehicles, these platforms operate under different geographical and operational constraints; including traversing pedestrian zones or platform-specific tasks such as movement of trailer or winter service. In this work a method is proposed for a guided dataset creation based on an analysis of existing datasets using user-generated map data. Furthermore, representative truck-specific use cases are identified and exemplified to demonstrate the applicability of the proposed methodology and to support targeted acquisition planning.

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Alexander Kroth, Cristian Martinez, Steven Peters. 2026-10-09. Towards Safer Cities: A Design Process for Perception Datasets in Urban Driving Scenarios. https://arxiv.org/abs/2610.13077

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