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 (excluding third_party) is licensed under the Apache License, Version 2.0. Code appearing in third_party is licensed under terms appearing therein.

The Waymo Open Dataset itself is licensed under separate terms. Please visit https://waymo.com/open/terms/ for details. Code located at third_party/camera is licensed under a BSD 3-clause copyright license + an additional limited patent license applicable only when the code is used to process data from the Waymo Open Dataset as authorized by and in compliance with the Waymo Dataset License Agreement for Non-Commercial Use. See third_party/camera for details.

@misc{sun2019scalability,
  title={Scalability in Perception for Autonomous Driving: Waymo Open Dataset},
  author={Pei Sun and Henrik Kretzschmar and Xerxes Dotiwalla and Aurelien Chouard and Vijaysai Patnaik and Paul Tsui and James Guo and Yin Zhou and Yuning Chai and Benjamin Caine and Vijay Vasudevan and Wei Han and Jiquan Ngiam and Hang Zhao and Aleksei Timofeev and Scott Ettinger and Maxim Krivokon and Amy Gao and Aditya Joshi and Yu Zhang and Jonathon Shlens and Zhifeng Chen and Dragomir Anguelov},
  year={2019},
  eprint={1912.04838},
  archivePrefix={arXiv},
  primaryClass={cs.CV}
}

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