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