Waymo Open Dataset

by Waymo Open DatasetResearch Only

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 conditions Sensor data 1 mid-range lidar 4 short-range lidars 5 cameras (front and sides) Synchronized lidar and camera data Lidar to camera projections Sensor calibrations and vehicle poses Labeled data Labels for 4 object classes - Vehicles, Pedestrians, Cyclists, Signs High-quality labels for lidar data in all 1,000 segments 12M 3D bounding box labels with tracking IDs on lidar data High-quality labels for camera data in 100 segments (more to be added soon) 1.2M 2D bounding box labels with tracking IDs on camera data This 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.

Dataset Attributes

Label SVG
TasksDetection
Label SVG
CategoriesAutonomous Vehicles, Self-Driving, Downtown, Suburban, Daylight, Night Time, Construction
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SensorRGB Camera, LiDAR

Class Labels

VehiclesPedestriansCyclistsSigns