ShoufaChen / waymo-open-dataset

Waymo Open Dataset

Waymo Open Dataset

We have released the Waymo Open Dataset publicly to aid the research community in making advancements in machine perception and autonomous driving technology.

The Waymo Open Dataset is composed of two datasets - the Perception dataset with high resolution sensor data and labels for 1,950 scenes, and the Motion dataset with object trajectories and corresponding 3D maps for 103,354 scenes.

March 2022 Update

We released v1.3 of the Perception dataset and the 2022 challenges. We have updated this repository to add support for the new labels and the challenges.

• Added 3D semantic segmentation labels, tutorial, and metrics.
• Added 2D and 3D keypoint labels, tutorial, and metrics.
• Added correspondence between 2D and 3D labels.
• Added tutorial and utilities for Occupancy Flow Prediction Challenge.
• Added the soft mAP metric for Motion Prediction Challenge.

Coming soon:

• Add scenes with camera imagery, as a test set for the Camera-Only 3D Detection Challenge.
• Add a new metric for the Camera-Only 3D Detection Challenge

September 2021 Update

We released v1.1 of the Motion dataset to include lane connectivity information. To read more on the technical details, please read lane_neighbors_and_boundaries.md.

• Added lane connections. Each lane has a list of lane IDs that enter or exit the lane.
• Added lane boundaries. Each lane has a list of left and right boundary features associated with the lane and the segment of the lane where the boundary is active.
• Added lane neighbors. Each lane has a list of left and right neighboring lanes. These are lanes an agent may make a lane change into.
• Improved timestamp precision.
• Improved stop sign Z values.

March 2021 Update

We expanded the Waymo Open Dataset to also include a Motion dataset comprising object trajectories and corresponding 3D maps for over 100,000 segments. We have updated this repository to add support for this new dataset. Please refer to the Quick Start.

Additionally, we added instructions and examples for the real-time detection challenges. Please follow these Instructions.

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 (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.

Citation

for Perception dataset

@InProceedings{Sun_2020_CVPR, author = {Sun, Pei and Kretzschmar, Henrik and Dotiwalla, Xerxes and Chouard, Aurelien and Patnaik, Vijaysai and Tsui, Paul and Guo, James and Zhou, Yin and Chai, Yuning and Caine, Benjamin and Vasudevan, Vijay and Han, Wei and Ngiam, Jiquan and Zhao, Hang and Timofeev, Aleksei and Ettinger, Scott and Krivokon, Maxim and Gao, Amy and Joshi, Aditya and Zhang, Yu and Shlens, Jonathon and Chen, Zhifeng and Anguelov, Dragomir}, title = {Scalability in Perception for Autonomous Driving: Waymo Open Dataset}, booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)}, month = {June}, year = {2020} }

for Motion dataset

@InProceedings{Ettinger_2021_ICCV, author={Ettinger, Scott and Cheng, Shuyang and Caine, Benjamin and Liu, Chenxi and Zhao, Hang and Pradhan, Sabeek and Chai, Yuning and Sapp, Ben and Qi, Charles R. and Zhou, Yin and Yang, Zoey and Chouard, Aur'elien and Sun, Pei and Ngiam, Jiquan and Vasudevan, Vijay and McCauley, Alexander and Shlens, Jonathon and Anguelov, Dragomir}, title={Large Scale Interactive Motion Forecasting for Autonomous Driving: The Waymo Open Motion Dataset}, booktitle= Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV)}, month={October}, year={2021}, pages={9710-9719} }

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 autonomous vehicles operated by the Waymo Driver 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/