@dataset{figueiredo2026real,
  author = {Figueiredo, Andreia and Pereira, Tiago and Almeida, António and Clérigo, André and Rito, Pedro and Luís, Miguel and Sargento, Susana},
  title = {Real World No-Collision Multi-Sensor and {V2X} Road User Dataset},
  publisher = {Zenodo},
  date = {2026-07},
  doi = {10.5281/zenodo.21644262}
}