  The main goal of this paper is to introduce the data collection effort at
Mcity targeting automated vehicle development. We captured a comprehensive set
of data from a set of perception sensors (Lidars, Radars, Cameras) as well as
vehicle steering/brake/throttle inputs and an RTK unit. Two in-cabin cameras
record the human driver's behaviors for possible future use. The naturalistic
driving on selected open roads is recorded at different time of day and weather
conditions. We also perform designed choreography data collection inside the
Mcity test facility focusing on vehicle to vehicle, and vehicle to vulnerable
road user interactions which is quite unique among existing open-source
datasets. The vehicle platform, data content, tags/labels, and selected
analysis results are shown in this paper.
