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Waymo Open Dataset

A high-quality set of multimodal sensor data for autonomous driving

Waymo Open Dataset

The Waymo Open Dataset is comprised of high resolution sensor data collected by Waymo self-driving cars in a wide variety of conditions. We are releasing this dataset publicly to aid the research community in making advancements in machine perception and self-driving technology.The Waymo Open Dataset currently contains lidar and camera data from 1,000 segments (20s each). We plan to continuously grow this dataset. Here is what is currently included:1,000 segments of 20s each, collected at 10Hz (200,000 frames) in diverse geographies and conditionsSensor data1 mid-range lidar4 short-range lidars5 cameras (front and sides)Synchronized lidar and camera dataLidar to camera projectionsSensor calibrations and vehicle posesLabeled dataLabels for 4 object classes - Vehicles, Pedestrians, Cyclists, SignsHigh-quality labels for lidar data in all 1,000 segments12M 3D bounding box labels with tracking IDs on lidar dataHigh-quality labels for camera data in 100 segments (more to be added soon)1.2M 2D bounding box labels with tracking IDs on camera dataThis data is licensed for non-commercial use. You can find the license agreement here.While this dataset is not reflective of the full capabilities of our sensor system and is only a fraction of the data on which Waymo’s self-driving system is trained, we believe that for research purposes this large, diverse and high-quality dataset is extremely valuable.

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WAYMO
View author website
Task
Autonomous Driving
Annotation Types
Semantic Segmentation
200000
Items
1000
Classes
200000
Labels
Models using this dataset
Last updated on 
October 31, 2023
Licensed under 
Research Only
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