Waymo Open Dataset
Benchmarks
Task NameDataset NameSOTA ResultTrendResults
Waymo Open Dataset (Segment 163453)
0.646ATE
5
Waymo Open Dataset (Segment 158686)
21.71PSNR
5
Waymo Open Dataset (Segment 153495)
23.66PSNR
5
Waymo Open Dataset (Segment 153495)
1.202ATE
5
Waymo Open Dataset (Segment 152706)
23.95PSNR
5
Waymo Open Dataset (Segment 152706)
0.309ATE
5
Waymo Open Dataset (Segment 132384)
26.98PSNR
5
Waymo Open Dataset (Segment 132384)
0.142ATE
5
Waymo Open Dataset (Segment 106762)
26.19PSNR
5
Waymo Open Dataset (Segment 106762)
0.405ATE
5
Waymo Open Dataset (Segment 13476)
22.29PSNR
5
Waymo Open Dataset (Segment 13476)
0.422ATE
5
Waymo Open Dataset (Segment 100613)
24.41PSNR
5
Waymo Open Dataset (Segment 100613)
0.302ATE
5
Waymo Open Dataset (WOD) (val)
73.723D AP L1 (IoU=0.7)
5
Waymo Open Dataset (WOD) (100% train)
10.1MPJPE (cm)
5
Waymo Open Dataset (WOD) 10% (train)
13.4MPJPE (cm)
5
Waymo Open Dataset (WOD) 1% (train)
17.2MPJPE (cm)
5
Waymo Open Dataset (WOD) (val)
94.41Vehicle L1 AP
5
Waymo Open Dataset (WOD) (val)
55.6Overall MOTA
5
Waymo Open Dataset (WOD) Pedestrian (test)
60.6MOTA
5
Waymo Open Dataset (WOD) Vehicle (test)
60.6MOTA
5
Waymo Open Dataset Level 2 (test)
72.2Vehicle mAP
5
Waymo Open Dataset Level 1 (test)
80.2Vehicle mAP
5
Waymo Open Dataset Real-time 2D Detection track (test)
75.71AP (L1)
5