LISA Traffic Sign Dataset

The LISA Traffic Sign Dataset is a set of videos and annotated frames containing US traffic signs. It is released in two stages, one with only the pictures and one with both pictures and videos. The images are available now, while the full dataset is underway and will be made available soon.


The structure of the dataset is illustrated below:

Several source videos have been split up into tracks. The tracks are annotated with the sign type they contain, but may include other signs. From each track, up to 30 frames are extracted and all signs in these frames are tagged with position, type, and some additional meta data.


  • 47 US sign types
  • 7855 annotations on 6610 frames.
  • Sign sizes from 6x6 to 167x168 pixels.
  • Images obtained from different cameras. Image sizes vary from 640x480 to 1024x522 pixels.
  • Some images in color and some in grayscale.
  • Full version of the dataset includes videos for all annotated signs.
  • Each sign is annotated with sign type, position, size, occluded (yes/no), on side road (yes/no).
  • All annotations are save in plain text .csv-files.
  • Includes a set of Python tools to handle the annotations and easily extract relevant signs from the dataset.


The LISA Traffic Sign Dataset and associated tools are released under academic license agreement. If you use the LISA Traffic Sign Database, please cite

Andreas M√łgelmose, Mohan M. Trivedi, and Thomas B. Moeslund, "Vision based Traffic Sign Detection and Analysis for Intelligent Driver Assistance Systems: Perspectives and Survey," IEEE Transactions on Intelligent Transportation Systems, 2012.


Click on the link below to download (~7.7GB).

LISA Traffic Sign Dataset - Annotated Frames