kiselyovd/citysample-vehicle-keypoints-24pt

City Sample Vehicle Keypoints (24-point, synthetic)

A synthetic vehicle-keypoint dataset rendered inside Epic's City Sample ("Matrix Awakens") with Unreal Engine 5.6 and Movie Render Queue. Vehicles are placed on the real ZoneGraph road network, and every visible vehicle is labelled with a 24-point anatomical keypoint schema plus a mesh-bounds bounding box.

Generated by the open pipeline at kiselyovd/ue5-vehicle-synth (full method, code, and engineering write-up in the repo wiki).

Contents

• 2,510 frames at 1280x720 PNG, across 36 capture groups: 4 city-street venues x 3 lighting presets (clear day, golden hour, overcast) x 3 hero vehicle rigs (sedan, minivan, pickup). Each scene is additionally populated with parked car/van types drawn at random from the City Sample fleet, so labelled instances cover more body shapes than the three hero rigs.
• 14,286 annotations (multi-instance: the rig vehicle plus every visible labelled city vehicle per frame, ~5.7/frame), annotations/coco.json in COCO keypoint format.
• Per-point visibility split: 55.9% visible (v=2), 34.2% occluded (v=1), 9.9% off-frame/absent (v=0) - the capture is deliberately biased toward hard framing and occlusion.
• captures_all.jsonl - the raw per-frame records the COCO is built from.

The 24-point schema

Points 0-13 are the CarFusion canonical order (4 wheels, 4 head/tail lights, exhaust, 4 roof corners, body center) for backward compatibility with 14-point models. Points 14-23 extend it: 2 side mirrors, 4 bumper corners, 4 window-base corners. Per-point visibility follows CarFusion: 2 visible, 1 self-occluded, 0 off-frame.

Every keypoint location is derived geometrically from the vehicle's own mesh data - wheels from the skeletal wheel bones, roof corners from the body vertex cloud's roofline plateau, head/tail lights and mirrors from the centroids of the mesh sections bound to the light/mirror materials - so per-type configs are exact to each body shape (a van's high tail lights, a pickup's cab-only roof), not a scaled sedan template.

Intended use

Synthetic pre-training / augmentation for real-world vehicle-keypoint models (sim-to-real). It is a Phase-0 vertical slice: the focus is the pipeline and a proof-of-concept sample, not a final large-scale corpus.

Used by

• Synthetic 24-pt model - a YOLO-pose model trained entirely on this synthetic data (the in-domain model).
• Real CarFusion model - the real-world baseline the sim-to-real study compares against.

Honest status

This slice was built to test a kill switch: does synthetic pre-training improve a real-world model? Results are reported transparently in the source repo - a narrow single-city slice is a hard case for sim-to-real transfer, and negative or marginal results are documented rather than hidden. Use it as a research artifact and a pipeline demonstration.

License & provenance

Frames are non-interactive media rendered with Unreal Engine from City Sample. Under the UE EULA, such rendered images are freely distributable; no Epic asset files are included - only rendered PNGs and JSON annotations. The MIT license covers these frames and annotations, not Epic's underlying assets. See the EULA analysis.