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.

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

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.

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.

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