Please refer to the following publications for the detailed descriptions to the datasets. Fang, Y., Wang, C., Zhao, H., Zha, H., On-road Vehicle Tracking Using Part-based Particle Filter, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 3755 - 3761, 2017. For questions, please email: zhaohj@cis.pku.edu.cn. --------------------------------------------------------------- For Ground Truth: In ground truth file(*.csv), //0: frame number in this video //10901: frame number in the whole experiment(you don't need it) //823: ground truth bounding box parameter x //25: ground truth bounding box parameter y //113: ground truth bounding box parameter width //107: ground truth bounding box parameter height 0 10901 823 25 113 107 ... The first integer frame number and the last four integers bounding box parameters are useful.