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.

Whatʼs included

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
  • Code

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.

Diversity of Conditions

Waymo Open Dataset includes a wide variety of places, objects and weather conditions.