The dataset consists of two .zip files. The first .zip file named "annotated dataset" contains a folder named “annotated dataset" with annotated street images. It consists of the folder “images” that has 763 image files. The image format is PNG. 432 images have dimensions of 1080 x 2160 and 331 have dimensions of 866 x 2400. The filenames are random uuids. The “annotated dataset” folder also contains the annotations in the file “coco_annotations.json”. Annotations are provided in COCO format. Table 1 shows the total number of annotated objects per class. Table 1. Total number of annotated objects per class Class Annotated Objects Tree 1922 Waste Bin 223 Recycling Bin 181 Lighting Pole 716 Shop Storefront 628 The second .zip file is named "routes" and contains a folder named “routes” with consecutive frames of four different driving routes in the city of Thessaloniki and their corresponding GPS signal. So the folder “routes” contains 4 folders in the following format “VID_<YYYYMMDD>_<HHmmSS>” where Y denotes digits for year, M denotes digits for month, D denotes digits for day, H denotes digits for hour, m denotes digits for minutes and S denotes digits for seconds. Not the filename represents the start of the collection sequence. All street data was collected in 2022. Each route folder has the “images” folder which contains the consecutive street image data. Image data in this folder is in JPEG format. Each filename in ‘images’ has the frame_<id>.jpg format where id denotes the order of the frame. Table 2 shows more details regarding the number of frames and frame dimension of the driving routes. Table 2. Total number frames and frame dimensions for each of the routes Route Name Frames Number Frame Dimension Route duration VID_20220617_111456 41,650 1080 x 2160 1h, 9m, 26s VID_20220210_112926 23.035 866 x 2400 38m, 26s VID_20220209_114831 18.000 1080 x 2160 30m, 3s VID_20220209_123323 18.273 1080 x 2160 30m, 30s Each route folder contains a “gps.json” file which contains latitude and longitude information for each frame. This file is essentially a JSON list of objects that each object contains the “frame_name” attribute and the corresponding “coordinates” object which contains the “latitude” and "longitude" attributes.

Funding: This research was co-financed by the European Regional Development Fund of the European Union and Greek national funds through the Operational Program Competitiveness, Enterpreneurship, and Innovation, under the call RESEARCH-CREATE-INNOVATE. Project Acronym: GRUBLES, Project Code: T2EDK-04533. Data usage: Stakeholders who use this dataset should act in accordance with the following instructions: - Abide all relevant laws and regulations imposed by stakeholder's institution and government, including privacy laws and regulations regarding the use of personal data. - Don't attempt to identify any individuals or license plates captured in the data images. Don't link the data to any other database or source that could reveal identifying information. Don't request any information or keys that would link these data to an individual's personal information. - Reference the source of the data when presenting results or algorithms derived from the data. (a) Papers, book chapters, books, posters, oral presentations, and all other presentations of results derived from the data should acknowledge the source as follows: "Data were provided by GRUBLES Project Consortium". (b) Authors of publications or presentations using the data should cite the methods used by the researchers of the GRUBLES Project Consortium to acquire and process the data. (c) The researchers of the GRUBLES Project Consortium will not be held liable for any results or derived data and will not be included as authors without consent. - Acknowledge that the data images have undergone blurring to protect the privacy of individuals and license plates and don't attempt to remove or alter this blurring.