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Waymo Open Dataset

Domain Adaptation


Similar to the 3D Detection Challenge: given one or more range images and the associated camera images, produce a set of 3D upright boxes for the objects in the scene. However, we provide additional segments from a new location and only a subset have labels.



To submit your entry to the leaderboard, upload your file in the format specified in the Submission protos. This challenge does not have any awards. You can only submit against the Test Set 3 times every 30 days. (Submissions that error out do not count against this total.)

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Leaderboard ranking for this challenge is by Mean Average Precision with Heading (mAPH) / L2 among "ALL_NS" (all Object Types except signs), that is, the mean over the APHs of Vehicles, Cyclists, and Pedestrians. All sensors are allowed to be used. And we enforce a causal system, i.e, for a frame at time step t, only sensor data up to time t can be used for its prediction.

Primary metric

Average Precision Weighted by Heading (APH): ∫h(r)dr where h(r) is the PR curve weighted by heading accuracy.(prediction [-π, π]) Compute predicted heading error (between 0 and π), divide by π to give weight from [0, 1].TP = min(|˜θ − θ|, 2π − |˜θ − θ|)/π, where ˜θ and θ are the predicted heading and the ground truth heading in radians within [−π, π]
FP = 1 per false positive presence of an object
FN = 1 per false negative

Secondary metric

Average Precision (AP): ∫p(r)dr where p(r)is the PR curve

IoU Overlap Threshold

Vehicle 0.7, Pedestrian 0.5, Cyclist 0.5

Sensor Names

L: All lidars
LT: Top lidar
C: All cameras
CLT: Camera and top lidar
CL: Camera and all lidars
I: Invalid


Labeled boxes without any lidar points are not considered during evaluation.

Label Difficulty Breakdown

Each ground truth label is categorized into different difficulty levels (two levels for now):

  • LEVEL_1, if number of points > 5 and not marked as LEVEL_2 in the released data.

  • LEVEL_2, if number of points >= 1 and <= 5, or marked as LEVEL_2 in the released data. When evaluating, LEVEL_2 metrics are computed by considering both LEVEL_1 and LEVEL_2 ground truth.

Metric Breakdown

The following metric breakdowns are supported:

  • OBJECT_TYPE: Breakdown by object type ("ALL_NS" refers to all objects except signs: Vehicle, Cyclist, and Pedestrian)

  • RANGE: Breakdown by the distance between object center and vehicle frame origin. [0, 35m), [35m, 50m), [50m, +inf)