This is a collection of all GPS- and computer-generated geospatial data specific to the Alpine Treeline Warming Experiment (ATWE), located on Niwot Ridge, Colorado, USA. The experiment ran between 2008 and 2016, and consisted of three sites spread across an elevation gradient. Geospatial data for all three experimental sites and cone/seed collection locations are included in this package. ––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––– Geospatial files include cone collection, experimental site, seed trap, and other GPS location/terrain data. File types include ESRI shapefiles, ESRI grid files or Arc/Info binary grids, TIFFs (.tif), and keyhole markup language (.kml) files. Trimble-imported data include plain text files (.txt), Trimble COR (CorelDRAW) files, and Trimble SSF (Standard Storage Format) files. Microsoft Excel (.xlsx) and comma-separated values (.csv) files corresponding to the attribute tables of many files within this package are also included. A complete list of files can be found in this document in the “Data File Organization” section in the included Data User's Guide. Maps are also included in this data package for reference and use. These maps are separated into two categories, 2021 maps and legacy maps, which were made in 2010. Each 2021 map has one copy in portable network graphics (.png) format, and the other in .pdf format. All legacy maps are in .pdf format. .png image files can be opened with any compatible programs, such as Preview (Mac OS) and Photos (Windows). All GIS files were imported into geopackages (.gpkg) using QGIS, and double-checked for compatibility and data/attribute integrity using ESRI ArcGIS Pro. Note that files packaged within geopackages will open in ArcGIS Pro with “main.” preceding each file name, and an extra column named “geom” defining geometry type in the attribute table. The contents of each geospatial file remain intact, unless otherwise stated in “niwot_geospatial_data_list_07012021.pdf/.xlsx”. This list of files can be found as an .xlsx and a .pdf in this archive. As an open-source file format, files within gpkgs (TIFF, shapefiles, ESRI grid or “Arc/Info Binary”) can be read using both QGIS and ArcGIS Pro, and any other geospatial softwares. Text and .csv files can be read using TextEdit/Notepad/any simple text-editing software; .csv’s can also be opened using Microsoft Excel and R. .kml files can be opened using Google Maps or Google Earth, and Trimble files are most compatible with Trimble’s GPS Pathfinder Office software. .xlsx files can be opened using Microsoft Excel. PDFs can be opened using Adobe Acrobat Reader, and any other compatible programs. A selection of original shapefiles within this archive were generated using ArcMap with associated FGDC-standardized metadata (xml file format). We are including these original files because they contain metadata only accessible using ESRI programs at this time, and so that the relationship between shapefiles and xml files is maintained. Individual xml files can be opened (without a GIS-specific program) using TextEdit or Notepad. Since ESRI’s compatibility with FGDC metadata has changed since the generation of these files, many shapefiles will require upgrading to be compatible with ESRI’s latest versions of geospatial software. These details are also noted in the “niwot_geospatial_data_list_07012021” file.

This dataset maps the location of anti-social graffiti around the University of Edinburgh's central campus. The data was collected over a 2 week period between the 19th May and the 2nd June 2014. The data was collected using a smartphone through an app called Fieldtrip GB (http://fieldtripgb.blogs.edina.ac.uk/). Multiple asset collectors were deployed to use a pre-defined data collection form which allowed users to log the following attributes: Date / Name of asset collector / Type of graffiti (image/tag/words/advert/.....) / What the graffiti was on (building/wall/lamppost/....) / What medium was used (paint/paper/chalk/....) / Density of graffiti / Photograph / Location. The data is by no means complete and realistically captured only around 50% of the graffiti in the study area. It is hoped that this dataset will be updated every 3 months to chart the distribution of graffiti over time. data was collected using the app Fieldtrip GB Once collected, data from multiple asset collectors was merged in FtGB's authoring tool and exported as a CSV file. This was then imported into QGIS and saved as a vector dataset in ESRI Shapefile format. GIS vector data. This dataset was first accessioned in the EDINA ShareGeo Open repository on 2014-06-06 and migrated to Edinburgh DataShare on 2017-02-22.

Reason for Selection Protected natural areas in urban environments provide urban residents a nearby place to connect with nature and offer refugia for some species. They help foster a conservation ethic by providing opportunities for people to connect with nature, and also support ecosystem services like offsetting heat island effects (Greene and Millward 2017, Simpson 1998), water filtration, stormwater retention, and more (Hoover and Hopton 2019). In addition, parks, greenspace, and greenways can help improve physical and psychological health in communities (Gies 2006). Urban park size complements the equitable access to potential parks indicator by capturing the value of existing parks.Input DataSoutheast Blueprint 2024 extentFWS National Realty Tracts, accessed 12-13-2023Protected Areas Database of the United States(PAD-US):PAD-US 3.0 national geodatabase -Combined Proclamation Marine Fee Designation Easement, accessed 12-6-20232020 Census Urban Areas from the Census Bureau’s urban-rural classification; download the data, read more about how urban areas were redefined following the 2020 censusOpenStreetMap data “multipolygons” layer, accessed 12-5-2023A polygon from this dataset is considered a beach if the value in the “natural” tag attribute is “beach”. Data for coastal states (VA, NC, SC, GA, FL, AL, MS, LA, TX) were downloaded in .pbf format and translated to an ESRI shapefile using R code. OpenStreetMap® is open data, licensed under theOpen Data Commons Open Database License (ODbL) by theOpenStreetMap Foundation (OSMF). Additional credit to OSM contributors. Read more onthe OSM copyright page.2021 National Land Cover Database (NLCD): Percentdevelopedimperviousness2023NOAA coastal relief model: volumes 2 (Southeast Atlantic), 3 (Florida and East Gulf of America), 4 (Central Gulf of America), and 5 (Western Gulf of America), accessed 3-27-2024Mapping StepsCreate a seamless vector layer to constrain the extent of the urban park size indicator to inland and nearshore marine areas <10 m in depth. The deep offshore areas of marine parks do not meet the intent of this indicator to capture nearby opportunities for urban residents to connect with nature. Shallow areas are more accessible for recreational activities like snorkeling, which typically has a maximum recommended depth of 12-15 meters. This step mirrors the approach taken in the Caribbean version of this indicator.Merge all coastal relief model rasters (.nc format) together using QGIS “create virtual raster”.Save merged raster to .tif and import into ArcPro.Reclassify the NOAA coastal relief model data to assign areas with an elevation of land to -10 m a value of 1. Assign all other areas (deep marine) a value of 0.Convert the raster produced above to vector using the “RasterToPolygon” tool.Clip to 2024 subregions using “Pairwise Clip” tool.Break apart multipart polygons using “Multipart to single parts” tool.Hand-edit to remove deep marine polygon.Dissolve the resulting data layer.This produces a seamless polygon defining land and shallow marine areas.Clip the Census urban area layer to the bounding box of NoData surrounding the extent of Southeast Blueprint 2024.Clip PAD-US 3.0 to the bounding box of NoData surrounding the extent of Southeast Blueprint 2024.Remove the following areas from PAD-US 3.0, which are outside the scope of this indicator to represent parks:All School Trust Lands in Oklahoma and Mississippi (Loc Des = “School Lands” or “School Trust Lands”). These extensive lands are leased out and are not open to the public.All tribal and military lands (“Des_Tp” = "TRIBL" or “Des_Tp” = "MIL"). Generally, these lands are not intended for public recreational use.All BOEM marine lease blocks (“Own_Name” = "BOEM"). These Outer Continental Shelf lease blocks do not represent actively protected marine parks, but serve as the “legal definition for BOEM offshore boundary coordinates...for leasing and administrative purposes” (BOEM).All lands designated as “proclamation” (“Des_Tp” = "PROC"). These typically represent the approved boundary of public lands, within which land protection is authorized to occur, but not all lands within the proclamation boundary are necessarily currently in a conserved status.Retain only selected attribute fields from PAD-US to get rid of irrelevant attributes.Merged the filtered PAD-US layer produced above with the OSM beaches and FWS National Realty Tracts to produce a combined protected areas dataset.The resulting merged data layer contains overlapping polygons. To remove overlapping polygons, use the Dissolve function.Clip the resulting data layer to the inland and nearshore extent.Process all multipart polygons (e.g., separate parcels within a National Wildlife Refuge) to single parts (referred to in Arc software as an “explode”).Select all polygons that intersect the Census urban extent within 0.5 miles. We chose 0.5 miles to represent a reasonable walking distance based on input and feedback from park access experts. Assuming a moderate intensity walking pace of 3 miles per hour, as defined by the U.S. Department of Health and Human Service’s physical activity guidelines, the 0.5 mi distance also corresponds to the 10-minute walk threshold used in the equitable access to potential parks indicator.Dissolve all the park polygons that were selected in the previous step.Process all multipart polygons to single parts (“explode”) again.Add a unique ID to the selected parks. This value will be used in a later step to join the parks to their buffers.Create a 0.5 mi (805 m) buffer ring around each park using the multiring plugin in QGIS. Ensure that “dissolve buffers” is disabled so that a single 0.5 mi buffer is created for each park.Assess the amount of overlap between the buffered park and the Census urban area using “overlap analysis”. This step is necessary to identify parks that do not intersect the urban area, but which lie within an urban matrix (e.g., Umstead Park in Raleigh, NC and Davidson-Arabia Mountain Nature Preserve in Atlanta, GA). This step creates a table that is joined back to the park polygons using the UniqueID.Remove parks that had ≤10% overlap with the urban areas when buffered. This excludes mostly non-urban parks that do not meet the intent of this indicator to capture parks that provide nearby access for urban residents. Note: The 10% threshold is a judgement call based on testing which known urban parks and urban National Wildlife Refuges are captured at different overlap cutoffs and is intended to be as inclusive as possible.Calculate the GIS acres of each remaining park unit using the Add Geometry Attributes function.Buffer the selected parks by 15 m. Buffering prevents very small and narrow parks from being left out of the indicator when the polygons are converted to raster.Reclassify the parks based on their area into the 7 classes seen in the final indicator values below. These thresholds were informed by park classification guidelines from the National Recreation and Park Association, which classify neighborhood parks as 5-10 acres, community parks as 30-50 acres, and large urban parks as optimally 75+ acres (Mertes and Hall 1995).Assess the impervious surface composition of each park using the NLCD 2021 impervious layer and the Zonal Statistics “MEAN” function. Retain only the mean percent impervious value for each park.Extract only parks with a mean impervious pixel value <80%. This step excludes parks that do not meet the intent of the indicator to capture opportunities to connect with nature and offer refugia for species (e.g., the Superdome in New Orleans, LA, the Astrodome in Houston, TX, and City Plaza in Raleigh, NC).Extract again to the inland and nearshore extent.Export the final vector file to a shapefile and import to ArcGIS Pro.Convert the resulting polygons to raster using the ArcPy Feature to Raster function and the area class field.Assign a value of 0 to all other pixels in the Southeast Blueprint 2024 extent not already identified as an urban park in the mapping steps above. Zero values are intended to help users better understand the extent of this indicator and make it perform better in online tools.Use the land and shallow marine layer and “extract by mask” tool to save the final version of this indicator.Add color and legend to raster attribute table.As a final step, clip to the spatial extent of Southeast Blueprint 2024.Note: For more details on the mapping steps, code used to create this layer is available in theSoutheast Blueprint Data Downloadunder > 6_Code. Final indicator valuesIndicator values are assigned as follows:6= 75+ acre urban park5= 50 to <75 acre urban park4= 30 to <50 acre urban park3= 10 to <30 acre urban park2=5 to <10acreurbanpark1 = <5 acre urban park0 = Not identified as an urban parkKnown IssuesThis indicator does not include park amenities that influence how well the park serves people and should not be the only tool used for parks and recreation planning. Park standards should be determined at a local level to account for various community issues, values, needs, and available resources.This indicator includes some protected areas that are not open to the public and not typically thought of as “parks”, like mitigation lands, private easements, and private golf courses. While we experimented with excluding them using the public access attribute in PAD, due to numerous inaccuracies, this inadvertently removed protected lands that are known to be publicly accessible. As a result, we erred on the side of including the non-publicly accessible lands.The NLCD percent impervious layer contains classification inaccuracies. As a result, this indicator may exclude parks that are mostly natural because they are misclassified as mostly impervious. Conversely, this indicator may include parks that are mostly impervious because they are misclassified as mostly

Overview

3DHD CityScenes is the most comprehensive, large-scale high-definition (HD) map dataset to date, annotated in the three spatial dimensions of globally referenced, high-density LiDAR point clouds collected in urban domains. Our HD map covers 127 km of road sections of the inner city of Hamburg, Germany including 467 km of individual lanes. In total, our map comprises 266,762 individual items.

Our corresponding paper (published at ITSC 2022) is available here. Further, we have applied 3DHD CityScenes to map deviation detection here.

Moreover, we release code to facilitate the application of our dataset and the reproducibility of our research. Specifically, our 3DHD_DevKit comprises:

Python tools to read, generate, and visualize the dataset,

3DHDNet deep learning pipeline (training, inference, evaluation) for map deviation detection and 3D object detection.

The DevKit is available here:

https://github.com/volkswagen/3DHD_devkit.

The dataset and DevKit have been created by Christopher Plachetka as project lead during his PhD period at Volkswagen Group, Germany.

When using our dataset, you are welcome to cite:

@INPROCEEDINGS{9921866, author={Plachetka, Christopher and Sertolli, Benjamin and Fricke, Jenny and Klingner, Marvin and Fingscheidt, Tim}, booktitle={2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)}, title={3DHD CityScenes: High-Definition Maps in High-Density Point Clouds}, year={2022}, pages={627-634}}

Acknowledgements

We thank the following interns for their exceptional contributions to our work.

Benjamin Sertolli: Major contributions to our DevKit during his master thesis

Niels Maier: Measurement campaign for data collection and data preparation

The European large-scale project Hi-Drive (www.Hi-Drive.eu) supports the publication of 3DHD CityScenes and encourages the general publication of information and databases facilitating the development of automated driving technologies.

The Dataset

After downloading, the 3DHD_CityScenes folder provides five subdirectories, which are explained briefly in the following.

1. Dataset

This directory contains the training, validation, and test set definition (train.json, val.json, test.json) used in our publications. Respective files contain samples that define a geolocation and the orientation of the ego vehicle in global coordinates on the map.

During dataset generation (done by our DevKit), samples are used to take crops from the larger point cloud. Also, map elements in reach of a sample are collected. Both modalities can then be used, e.g., as input to a neural network such as our 3DHDNet.

To read any JSON-encoded data provided by 3DHD CityScenes in Python, you can use the following code snipped as an example.

import json

json_path = r"E:\3DHD_CityScenes\Dataset\train.json" with open(json_path) as jf: data = json.load(jf) print(data)

1. HD_Map

Map items are stored as lists of items in JSON format. In particular, we provide:

traffic signs,

traffic lights,

pole-like objects,

construction site locations,

construction site obstacles (point-like such as cones, and line-like such as fences),

line-shaped markings (solid, dashed, etc.),

polygon-shaped markings (arrows, stop lines, symbols, etc.),

lanes (ordinary and temporary),

relations between elements (only for construction sites, e.g., sign to lane association).

1. HD_Map_MetaData

Our high-density point cloud used as basis for annotating the HD map is split in 648 tiles. This directory contains the geolocation for each tile as polygon on the map. You can view the respective tile definition using QGIS. Alternatively, we also provide respective polygons as lists of UTM coordinates in JSON.

Files with the ending .dbf, .prj, .qpj, .shp, and .shx belong to the tile definition as “shape file” (commonly used in geodesy) that can be viewed using QGIS. The JSON file contains the same information provided in a different format used in our Python API.

1. HD_PointCloud_Tiles

The high-density point cloud tiles are provided in global UTM32N coordinates and are encoded in a proprietary binary format. The first 4 bytes (integer) encode the number of points contained in that file. Subsequently, all point cloud values are provided as arrays. First all x-values, then all y-values, and so on. Specifically, the arrays are encoded as follows.

x-coordinates: 4 byte integer

y-coordinates: 4 byte integer

z-coordinates: 4 byte integer

intensity of reflected beams: 2 byte unsigned integer

ground classification flag: 1 byte unsigned integer

After reading, respective values have to be unnormalized. As an example, you can use the following code snipped to read the point cloud data. For visualization, you can use the pptk package, for instance.

import numpy as np import pptk

file_path = r"E:\3DHD_CityScenes\HD_PointCloud_Tiles\HH_001.bin" pc_dict = {} key_list = ['x', 'y', 'z', 'intensity', 'is_ground'] type_list = ['