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🚗 Curated Catalog · Autonomous Vehicles

Waymo Open Dataset

High-resolution AV data from Waymo — 1,150 scenes, 12.6M LiDAR labels, 11.8M 2D box labels.

LQS 92 · platinum ⚠ Research-only 1.1K driving scenes 1.5 TB TFRecord · Proto Released 2020
Browse commercial Autonomous Vehicles → Visit original source ↗
Source: waymo.com · maintained by Waymo LLC
1.1K
driving scenes
1.5 TB
Size on disk
92
LQS · platinum
2020
First released

About this dataset

Waymo Open Dataset is one of the highest-quality public AV datasets. 1,150 20s scenes (230K frames) with 5 LiDARs + 5 cameras captured across Phoenix, Mountain View, and San Francisco. Perception and motion prediction splits. 12.6M 3D LiDAR labels + 11.8M 2D camera box labels across vehicles, pedestrians, cyclists, signs.

Maintainer
Waymo LLC
License
Waymo Dataset License (research only)
Formats
TFRecord · Proto
Paper
Read on arxiv.org →

LabelSets Quality Score

LQS is our 7-dimension quality score, computed from the dataset's published statistics. See methodology →

92
out of 100
platinum tier

High-quality dataset across most dimensions

Composite score computed from the 7 dimensions below: completeness, uniqueness, validation health, size adequacy, format compliance, label density, and class balance.

Completeness 95
No public completeness metric; using prior for 'expert_curated' datasets.
Uniqueness 95
Manually vetted for uniqueness by maintainer.
Validation 92
Labels produced by domain experts or trained annotators.
Size adequacy 90
1,150 scenes — exceeds 1,000 adequacy target for Autonomous Vehicles.
Format compliance 95
Industry-standard format — drop-in compatible with mainstream tooling.
Label density 100
Average 21000.0 labels per item (high density).
Class balance 75
Moderate class skew — realistic production distribution.

What it's used for

Common tasks and benchmarks where Waymo Open Dataset is the default or competitive choice.

Sample statistics

What's actually in the dataset — from the maintainer's published stats.

1,150 scenes × 20s (230K frames). 12.6M 3D LiDAR labels, 11.8M 2D camera labels, 4 classes. Phoenix, SF, Mountain View. Diverse weather/lighting.

License

Waymo Open Dataset is distributed under Waymo Dataset License (research only). This is a third-party public dataset; LabelSets indexes and scores it but does not host or redistribute the data. Always verify current license terms with the maintainer before commercial use.

Heads up: this dataset's license restricts commercial use. If you need autonomous vehicles data for production, check LabelSets' paid datasets below — every listing has an explicit commercial license.

Need commercial-licensed Autonomous Vehicles data?

LabelSets sellers offer paid autonomous vehicles datasets with what public datasets often can't give you:

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Similar public datasets

Other entries in the Autonomous Vehicles catalog.

nuScenes
1.4M camera images · CC BY-NC-SA 4.0
KITTI Vision Benchmark
200K labeled objects · CC BY-NC-SA 3.0
Cityscapes
25K images · Cityscapes License (research use)

Frequently Asked Questions

Waymo Open Dataset is distributed under Waymo Dataset License (research only), which restricts commercial use. For a commercially-licensed alternative in autonomous vehicles, see LabelSets' paid datasets.
Waymo Open Dataset contains 1,150 driving scenes. 1,150 scenes × 20s (230K frames). 12.6M 3D LiDAR labels, 11.8M 2D camera labels, 4 classes. Phoenix, SF, Mountain View. Diverse weather/lighting.
Waymo Open Dataset is maintained by Waymo LLC and is available at https://waymo.com/open/download/. LabelSets indexes and scores this dataset for discoverability but does not redistribute it.
LQS is a 7-dimension quality score (completeness, uniqueness, validation, size adequacy, format compliance, label density, class balance) computed from the dataset's published statistics. Composite scores map to tiers: platinum (≥90), gold (≥75), silver (≥60), bronze (<60). Read the full methodology.