Skip to main content
Waymo Open Dataset

3D Semantic Segmentation


Given one or more lidar range images and the associated camera images, produce a semantic class label for each lidar point.

Note: On 2023-12-08, we fixed several small errors in the 3D semantic segmentation ground truth labels, especially for the class of motorcyclist. We used the new ground truth labels to refresh the results of all existing submission In both test and validation.


Disqualified from the 2022 Waymo Open Dataset Challenge