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. This dataset has been released publicly to aid the research community in making advancements in machine perception and self-driving technology.

This data is licensed for non-commercial use. You can find the license agreement here.

Data and Resources

Additional Info

Field Value
Source Waymo
Author Waymo LLC
Maintainer Waymo team
Associated Tasks Classification and Detection; Perception
Number of Instances 1000
Package Description The Waymo Open Dataset currently contains lidar and camera data from 1,000 segments (20s each). 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 Code: Access the GitHub repo [here](https://github.com/waymo-research/waymo-open-dataset)
Dataset has missing values False