Colorado Traffic Intersection Sensor and Vehicle Data 2025

Colorado traffic data from two 2025 sessions at intersections in Falcon and Colorado Springs. The dataset contains processed roadside sensor detections from radar, lidar, and camera units, plus connected vehicle messages and GPS trajectories for one session. Sensor availability and coordinate systems vary per session.

Use Cases

• Fuse radar, lidar, and camera object tracks using TimeElapsed field for cross-sensor alignment within a session.
• Validate infrastructure sensor detections against GPS_PPK.csv ground-truth probe vehicle trajectories from the November session.
• Analyze connected vehicle Basic Safety Message patterns from CV_BSM_1.csv at the urban signalized intersection.
• Study pedestrian and vehicle trajectories from the ~3-hour rural intersection session with four radar units.

Strengths

• Data from two distinct traffic intersections, one rural and one urban, captured across two dates in 2025.
• Includes multiple sensor modalities: up to 4 radar, 2 lidar, and 2 camera units per session.
• November sessions provide GPS ground-truth data for cross-sensor validation.

Limitations

• Sensor availability varies by session; connected vehicle and GPS data are exclusive to the November 2025 collection.
• Data from each sensor is in a local coordinate system, requiring transformation prior to fusion.
• ObjectId is not consistent across different sensors or recording sessions.

Provenance

Source

Department of Energy, Infrastructure Perception and Control (IPC) research team.

Collection Method

Collected using roadside traffic sensors (Radar, Lidar, Camera) and a connected vehicle BSM receiver.

Time Range

April 22, 2025 and November 24, — 2025.

Freshness

Data collected in 2025, last updated in February 2026.

Geography

Two traffic intersections in Colorado: Stapleton Dr. & Meridian Rd., Falcon, and N Cascade Ave & E Cache La Poudre St, Colorado Springs.