About

The Waymo Open Dataset currently contains 1,950 segments. We plan to grow this dataset in the future. Here is what is currently included:

• 1,950 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 1,200 segments
  • 12.6M 3D bounding box labels with tracking IDs on lidar data
  • High-quality labels for camera data in 1,000 segments
  • 11.8M 2D bounding box labels with tracking IDs on camera data
• Code
  • Access the GitHub repo here

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.

Check out our paper, Scalability in Perception for Autonomous Driving: Waymo Open Dataset, for additional details on scale, diversity, and object detection and tracking baselines.