  The goal of this paper is to generate simulations with real-world collision
scenarios for training and testing autonomous vehicles. We use numerous dashcam
crash videos uploaded on the internet to extract valuable collision data and
recreate the crash scenarios in a simulator. We tackle the problem of
extracting 3D vehicle trajectories from videos recorded by an unknown and
uncalibrated monocular camera source using a modular approach. A working
architecture and demonstration videos along with the open-source implementation
are provided with the paper.
