most citedThe inD Dataset: A Drone Dataset of Naturalistic Road User Trajectories at German Intersections

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cs.RO2026

HetroD: A High-Fidelity Drone Dataset and Benchmark for Autonomous Driving in Heterogeneous Traffic

Yu-Hsiang Chen, Wei-Jer Chang, Christian Kotulla +7

We present HetroD, a dataset and benchmark for developing autonomous driving systems in heterogeneous environments. HetroD targets the critical challenge of navi- gating real-world…