# waymo_open_dataset

<br />

- **Description**:

The Waymo Open Dataset is comprised of high resolution sensor data collected by
Waymo self-driving cars in a wide variety of conditions. This data is licensed
for non-commercial use.

> [!WARNING]
> **Warning:** this dataset requires additional authorization and registration. Please look at tfds documentation for accessing GCS, and afterwards, please register via <https://waymo.com/open/licensing/>

- **Additional Documentation** :
  [Explore on Papers With Code](https://paperswithcode.com/dataset/waymo-open-dataset)

- **Homepage** : <http://www.waymo.com/open/>

- **Source code** :
  [`tfds.object_detection.WaymoOpenDataset`](https://github.com/tensorflow/datasets/tree/master/tensorflow_datasets/object_detection/waymo_open_dataset.py)

- **Versions**:

  - **`0.2.0`** (default): No release notes.
- **Download size** : `Unknown size`

- **Auto-cached**
  ([documentation](https://www.tensorflow.org/datasets/performances#auto-caching)):
  No

- **Feature structure**:

    FeaturesDict({
        'camera_FRONT': FeaturesDict({
            'image': Image(shape=(1280, 1920, 3), dtype=uint8),
            'labels': Sequence({
                'bbox': BBoxFeature(shape=(4,), dtype=float32),
                'type': ClassLabel(shape=(), dtype=int64, num_classes=5),
            }),
        }),
        'camera_FRONT_LEFT': FeaturesDict({
            'image': Image(shape=(1280, 1920, 3), dtype=uint8),
            'labels': Sequence({
                'bbox': BBoxFeature(shape=(4,), dtype=float32),
                'type': ClassLabel(shape=(), dtype=int64, num_classes=5),
            }),
        }),
        'camera_FRONT_RIGHT': FeaturesDict({
            'image': Image(shape=(1280, 1920, 3), dtype=uint8),
            'labels': Sequence({
                'bbox': BBoxFeature(shape=(4,), dtype=float32),
                'type': ClassLabel(shape=(), dtype=int64, num_classes=5),
            }),
        }),
        'camera_SIDE_LEFT': FeaturesDict({
            'image': Image(shape=(886, 1920, 3), dtype=uint8),
            'labels': Sequence({
                'bbox': BBoxFeature(shape=(4,), dtype=float32),
                'type': ClassLabel(shape=(), dtype=int64, num_classes=5),
            }),
        }),
        'camera_SIDE_RIGHT': FeaturesDict({
            'image': Image(shape=(886, 1920, 3), dtype=uint8),
            'labels': Sequence({
                'bbox': BBoxFeature(shape=(4,), dtype=float32),
                'type': ClassLabel(shape=(), dtype=int64, num_classes=5),
            }),
        }),
        'context': FeaturesDict({
            'name': Text(shape=(), dtype=string),
        }),
        'timestamp_micros': int64,
    })

- **Feature documentation**:

| Feature | Class | Shape | Dtype | Description |
|---|---|---|---|---|
|   | FeaturesDict |   |   |   |
| camera_FRONT | FeaturesDict |   |   |   |
| camera_FRONT/image | Image | (1280, 1920, 3) | uint8 |   |
| camera_FRONT/labels | Sequence |   |   |   |
| camera_FRONT/labels/bbox | BBoxFeature | (4,) | float32 |   |
| camera_FRONT/labels/type | ClassLabel |   | int64 |   |
| camera_FRONT_LEFT | FeaturesDict |   |   |   |
| camera_FRONT_LEFT/image | Image | (1280, 1920, 3) | uint8 |   |
| camera_FRONT_LEFT/labels | Sequence |   |   |   |
| camera_FRONT_LEFT/labels/bbox | BBoxFeature | (4,) | float32 |   |
| camera_FRONT_LEFT/labels/type | ClassLabel |   | int64 |   |
| camera_FRONT_RIGHT | FeaturesDict |   |   |   |
| camera_FRONT_RIGHT/image | Image | (1280, 1920, 3) | uint8 |   |
| camera_FRONT_RIGHT/labels | Sequence |   |   |   |
| camera_FRONT_RIGHT/labels/bbox | BBoxFeature | (4,) | float32 |   |
| camera_FRONT_RIGHT/labels/type | ClassLabel |   | int64 |   |
| camera_SIDE_LEFT | FeaturesDict |   |   |   |
| camera_SIDE_LEFT/image | Image | (886, 1920, 3) | uint8 |   |
| camera_SIDE_LEFT/labels | Sequence |   |   |   |
| camera_SIDE_LEFT/labels/bbox | BBoxFeature | (4,) | float32 |   |
| camera_SIDE_LEFT/labels/type | ClassLabel |   | int64 |   |
| camera_SIDE_RIGHT | FeaturesDict |   |   |   |
| camera_SIDE_RIGHT/image | Image | (886, 1920, 3) | uint8 |   |
| camera_SIDE_RIGHT/labels | Sequence |   |   |   |
| camera_SIDE_RIGHT/labels/bbox | BBoxFeature | (4,) | float32 |   |
| camera_SIDE_RIGHT/labels/type | ClassLabel |   | int64 |   |
| context | FeaturesDict |   |   |   |
| context/name | Text |   | string |   |
| timestamp_micros | Tensor |   | int64 |   |

- **Supervised keys** (See
  [`as_supervised` doc](https://www.tensorflow.org/datasets/api_docs/python/tfds/load#args)):
  `None`

- **Figure**
  ([tfds.show_examples](https://www.tensorflow.org/datasets/api_docs/python/tfds/visualization/show_examples)):
  Not supported.

- **Citation**:

    @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 = {The IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
    month = {June},
    year = {2020}
    }

## waymo_open_dataset/v1.2 (default config)

- **Config description**: Waymo Open Dataset v1.2

- **Dataset size** : `336.62 GiB`

- **Splits**:

| Split | Examples |
|---|---|
| `'train'` | 158,081 |
| `'validation'` | 39,987 |

- **Examples** ([tfds.as_dataframe](https://www.tensorflow.org/datasets/api_docs/python/tfds/as_dataframe)):

<button id="displaydataframe">Display examples...</button>

## waymo_open_dataset/v1.1

- **Config description**: Waymo Open Dataset v1.1

- **Dataset size** : `336.62 GiB`

- **Splits**:

| Split | Examples |
|---|---|
| `'train'` | 158,081 |
| `'validation'` | 39,987 |

- **Examples** ([tfds.as_dataframe](https://www.tensorflow.org/datasets/api_docs/python/tfds/as_dataframe)):

<button id="displaydataframe">Display examples...</button>

## waymo_open_dataset/v1.0

- **Config description**: Waymo Open Dataset v1.0 This dataset is also available in pre-processed format, making it faster to load, if you select the correct data_dir:

    tfds.load('waymo_open_dataset/v1.0', data_dir='gs://waymo_open_dataset_v_1_0_0_individual_files/tensorflow_datasets')

- **Dataset size** : `34.73 GiB`

- **Splits**:

| Split | Examples |
|---|---|
| `'train'` | 14,884 |
| `'validation'` | 4,954 |

- **Examples** ([tfds.as_dataframe](https://www.tensorflow.org/datasets/api_docs/python/tfds/as_dataframe)):

<button id="displaydataframe">Display examples...</button>