FLUID: A Fine-Grained Lightweight Urban Signalized-Intersection Dataset of Dense Conflict Trajectories

Brief Introduction

This dataset and its attached pipeline is lightweight, but useful.

ToDo List

• Upload data processing code

• Upload Field Descriptions

• Upload data verification code (mainly the SSMs)

• Upload a demo video

• Make the Figshare dataset public (figshare: https://doi.org/10.6084/m9.figshare.29974954.v1)

• Related research

Demo

The main process is data processing, and the order is based on the numbers before the file names.

Pipeline for A Successful Drone Expirement

Scene Details

Demo Video (v1)

Click here to view the Demo Video

Citation

If you find this project useful or use our dataset/code in your research (Github/Figshare), please consider citing our work:

@article{chen2025fluid,
  title = {FLUID: A Fine-Grained Lightweight Urban Signalized-Intersection Dataset of Dense Conflict Trajectories},
  author = {Chen, Yiyang and Wu, Zhigang and Zheng, Guohong and Wu, Xuesong and Xu, Liwen and Tang, Haoyuan and He, Zhaocheng and Zeng, Haipeng},
  journal = {arXiv preprint arXiv:2509.00497},
  year = {2025},
  note = {Guangdong Provincial Key Laboratory of Intelligent Transportation Systems, Sun Yat-sen University},
  url = {https://arxiv.org/abs/2509.00497}
}

@article{Chen2025,
author = "Yiyang Chen and Zhigang Wu and Guohong Zheng and Xuesong Wu and Liwen Xu and Haoyuan Tang and Zhaocheng He and Haipeng Zeng",
title = "{FLUID: A Fine-Grained Lightweight Urban Signalized-Intersection Dataset of Dense Conflict Trajectories}",
year = "2025",
month = "8",
url = "https://figshare.com/articles/dataset/FLUID_A_Fine-Grained_Lightweight_Urban_Signalized-Intersection_Dataset_of_Dense_Conflict_Trajectories/29974954",
doi = {10.6084/m9.figshare.29974954.v1}
}