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.

The Waymo Open Dataset currently contains 1,950 segments. The authors plan to grow this dataset in the future. Currently the datasets includes:

• 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