munich2drive_edgar

Surround-camera driving clips from a real Munich HD map built by SimForge, each paired with the ego vehicle's full trajectory. Every clip is a nine-panel video -- six surround cameras at the ego's real sensor extrinsics, a chase view, a bird's-eye view, and the frame-locked CommonRoad ground truth -- so what the model sees and what the data says are visible side by side.

The ego is rendered with the real EDGAR mesh -- TUM's VW T7 Multivan digital twin -- rather than the stand-in van used in munich2drive. Same 50 base scenarios, same trajectories, same camera extrinsics; what changes is that the vehicle you see in the chase and bird's-eye views is the vehicle the footprint has always described.

• 494 clips over 50 base scenarios (494 sumo_edgar)
• 60,463 agent-replays, 79-161 agents per clip
• 12 weather / time-of-day conditions, 0 at night
• ego paths 10.64-232.85 m (median 108.88 m)

Camera provenance

The six surround-camera extrinsics (front, front_left, front_right, back, back_left, back_right) are EDGAR's real Basler short-range rig, read from edgar.description.states.urdf in TUM-AVS/edgar_digital_twin and converted from the URDF's ROS convention into CARLA's frame -- the poses hang off rear_axle_center, so CARLA x = urdf_x - 0.009, y = -urdf_y, z = urdf_z + 0.338, with the yaw and pitch handedness flipped. They are not derived from the bounding box, and must not be rescaled to one.

EDGAR's long-range forward stereo pair is not rendered: it has no counterpart in a 6-view surround layout. The chase and bird panels are visualisation only and do not correspond to sensors on the vehicle -- they are derived from the actor's bounding box. The commonroad panel is ground truth, not a camera.

Each row

field
mp4	the 3x3 grid clip (1920x1080, 10 fps, 120 frames)
json	everything below, as one record
trajectory	parallel arrays: t, x, y, carla_x, carla_y, yaw, v, a, yaw_rate
path_length_m, speed_mps	trajectory summary
weather, sun_altitude_deg, precipitation, wetness, night	conditions
n_agents, agents_by_type	surrounding traffic
ego_collision_events, ego_collisions	ego collision-sensor events with impulses
audit_clean, max_pose_error_m, max_height_dev_m	per-clip verification, below

x/y are the CommonRoad map frame -- the frame the CommonRoad panel of the video is drawn in. carla_x/carla_y are the same states in the CARLA world frame, via the verified transform (carla_x = lx, carla_y = -ly after reprojecting EPSG:3857 to the map's local transverse-Mercator frame; crdesigner emits 3857, which is ~1.5x scale-distorted at 48N, so this conversion is not optional).

The trajectory is given in world coordinates; ego-relative future waypoints follow from the state at any t by the usual rigid transform.

Verification

Rendering audits each clip against its scenario file at 14 time steps and ships the result, so these are measurements, not claims:

• audit_clean: 494 / 494
• agent pose error vs CommonRoad: median 0.006 m, p99 0.376 m, max 1.161 m
• height deviation: median 0.05 m, p99 0.322 m, max 0.383 m
• clips rendered with actors inherited from a previous run: 0; with actors surviving cleanup: 0
• clips with at least one ego collision event: 0

Known limitations

• Traffic is replayed kinematically from recorded SUMO trajectories and does not react to the ego. No clip in this set records an ego collision event, but the absence is a property of these particular replays, not evidence that the traffic would yield.
• Where SUMO placed two footprints overlapping, the render shows them interpenetrating.
• The ego mesh is the EDGAR digital twin as cooked for CARLA; it is hosted on the vehicle.lincoln.mkz_2017 blueprint id, which is cosmetic -- what spawns is EDGAR (bbox 4.962 x 2.233 x 2.089 m, TUM livery).
• 500 clips were rendered; the 6 whose ego left the ground at a single audit step are withheld, so every clip published here passes. Those 6 failed on height deviation only -- pose error was unaffected, which is why the pose figures above are the same as for the full 500 while the height tail is not.
• All clips are daytime; unlike munich2drive this set contains no night renders.

Acknowledgements

Munich HD map from SimForge; ego vehicle and motion planner from TUM-AVS (EDGAR digital twin, Frenetix); built on CARLA, CommonRoad and SUMO. The EDGAR digital twin (TUM-AVS/edgar_digital_twin) is LGPL-3.0; its attribution and licence text travel with the cooked asset and with these renders of it. Observe the upstream licences of the HD map, simulator assets and vehicle models.