Waymo Open Dataset

The Waymo Open Dataset is comprised of high-resolution sensor data collected by Waymo self-driving cars in a wide variety of conditions. We’re releasing this dataset publicly to aid the research community in making advancements in machine perception and self-driving technology.

Website

To read more about the dataset and access it, please visit https://www.waymo.com/open.

Contents

This code repository contains:

• Definition of the dataset format
• Evaluation metrics
• Helper functions in TensorFlow to help with building models

Please refer to the Quick Start.

License

This code repository is licensed under the Apache License, Version 2.0. The Waymo Open Dataset itself is licensed under separate terms. Please visit https://waymo.com/open/terms/ for details.

Citation

@misc{waymo_open_dataset,
  title = {Waymo Open Dataset: An autonomous driving dataset},
  website = {\url{https://www.waymo.com/open}},
  year = {2019}
}

Dataset Metadata

The following table is necessary for this dataset to be indexed by search engines such as Google Dataset Search.

property	value
name	Waymo Open Dataset: An autonomous driving dataset
alternateName	Waymo Open Dataset
url	https://github.com/waymo-research/waymo-open-dataset
sameAs	https://github.com/waymo-research/waymo-open-dataset
sameAs	https://www.waymo.com/open
description	The Waymo Open Dataset is comprised of high-resolution sensor data collected by Waymo self-driving cars in a wide variety of conditions. We’re releasing this dataset publicly to aid the research community in making advancements in machine perception and self-driving technology.
provider	property value name Waymo sameAs https://en.wikipedia.org/wiki/Waymo
license	property value name Waymo Dataset License Agreement for Non-Commercial Use (August 2019) url https://waymo.com/open/terms/