H-V2X: A Large Scale Highway Dataset for BEV Perception

Vehicle-to-everything (V2X) technology has become an area of interest in research due to the availability of roadside infrastructure perception datasets. However, these datasets primarily focus on urban intersections and lack data on highway scenarios. Additionally, the perception tasks in the datasets are mainly MONO 3D due to limited synchronized data across multiple sensors. To bridge this gap, we propose Highway-V2X (H-V2X), the first large-scale highway Bird's-Eye-View (BEV) perception dataset captured by sensors in the real world. The dataset covers over 100 kilometers of highway, with a diverse range of road and weather conditions. H-V2X consists of over 1.9 million fine-grained categorized samples in BEV space, captured by multiple synchronized cameras, with vector map provided. We performed joint 2D-3D calibrations to ensure correct projection and human labor was involved to ensure data quality. Furthermore, we propose three highly relevant tasks to the highway scenario: BEV detection, BEV tracking, and trajectory prediction. We conducted benchmarks for each task, and innovative methods incorporating vector map information were proposed. We hope that H-V2X and benchmark methods will facilitate highway BEV perception research direction. The dataset and codes will be released upon acceptance.