<b>InterHub: A Naturalistic Trajectory Dataset with Dense Interaction for Autonomous Driving</b>

We provide a dense interaction dataset, InterHub, derived from extensive naturalistic driving records to address the scarcity of real-world datasets capturing rich interaction events. The dataset provided on this page include:<b>A</b><b> CSV file </b>(all_results.csv) containing the <b>indexed list</b> of the extracted interaction events<b>.</b><b>Relevant unified data cache files </b>(lyft_train_full, interaction_multi, interaction_single, and nuplan_train)<b>.</b>The Python codes used to process and analyze the dataset can be found at https://github.com/zxc-tju/InterHub. The tools for navigating InterHub involve the following three parts:0_data_unify.py converts various data resources into a unified format for seamless interaction event extraction.1_interaction_extract.py extracts interactive segments from unified driving records.2_case_visualize.py showcases interaction scenarios in InterHub.<br><br>