The Waymo Open Dataset is comprised of high resolution sensor data collected by autonomous vehicles operated by the Waymo Driver in a wide variety of conditions. We are releasing this dataset publicly to aid the research community in making advancements in machine perception and autonomous driving technology.

Challenges are now open! Check out the Challenges page for details.

Whatʼs included

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 (390,000 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

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 autonomous 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.

Diversity of Conditions

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