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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.

Waymo Open Dataset
Items
1000
Classes
200000
Labels
Models using this dataset
Last updated on 
January 5, 2022
Licensed under 
Research Only
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