PedX Dataset

PedX Overview


PedX is a large-scale multi-modal collection of pedestrians at complex urban intersections. The dataset provides high-resolution stereo images and LiDAR data with manual 2D and automatic 3D annotations. The data was captured using two pairs of stereo cameras and four Velodyne LiDAR sensors.


  title={Pedx: Benchmark dataset for metric 3d pose estimation of pedestrians in complex urban intersections},
  author={Kim, Wonhui and Ramanagopal, Manikandasriram Srinivasan and Barto, Charles and Yu, Ming-Yuan and Rosaen, Karl and Goumas, Nick and Vasudevan, Ram and Johnson-Roberson, Matthew},
  journal={IEEE Robotics and Automation Letters},