MONA: The Munich Motion Dataset of Natural Driving

Real-world datasets facilitate the development of autonomous vehicles, especially when they are accessible, diverse, and provide a measure of accuracy. While existing datasets have been accessible and diverse, they cannot provide any measure of accuracy. To estimate the accuracy of the detection of traffic participants in our setup, we repetitively drove through our observation area with a measurement vehicle with highly accurate localization and LiDAR sensors. Our experiments showed an average overall position accuracy of 0.51 m. The combined data of the autonomous vehicle and the elevated camera setup yield a unique dataset. The elevated view acts as a super sensor of the autonomous vehicle with extended range and reduced occlusions. We employ an auto-labeling system on the stationary camera data to extract trajectories with bounding boxes for each traffic participant. These extracted trajectories are smoothed for kinematic feasibility, and corresponding maps for each location are provided. The Munich Motion Dataset of Natural Driving (MONA) shall empower new research in prediction and planning. Making raw data and code available to the public without license restrictions allows the dataset to be further improved using more advanced algorithms.