Scalability in Perception for Autonomous Driving: Waymo Open Dataset Article Swipe
Pei Sun
,
Henrik Kretzschmar
,
Xerxes Dotiwalla
,
Aurélien Chouard
,
Vijaysai Patnaik
,
Paul Tsui
,
James C. Y. Guo
,
Yin Zhou
,
Yuning Chai
,
Benjamin Caine
,
Vijay Vasudevan
,
Wei Han
,
Jiquan Ngiam
,
Hang Zhao
,
Aleksei Timofeev
,
Scott Ettinger
,
Maxim Krivokon
,
Amy Gao
,
Aditya Joshi
,
Sheng Zhao
,
Shuyang Cheng
,
Yu Zhang
,
Jonathon Shlens
,
Zhifeng Chen
,
Dragomir Anguelov
·
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.1912.04838
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.1912.04838
The research community has increasing interest in autonomous driving research, despite the resource intensity of obtaining representative real world data. Existing self-driving datasets are limited in the scale and variation of the environments they capture, even though generalization within and between operating regions is crucial to the overall viability of the technology. In an effort to help align the research community's contributions with real-world self-driving problems, we introduce a new large scale, high quality, diverse dataset. Our new dataset consists of 1150 scenes that each span 20 seconds, consisting of well synchronized and calibrated high quality LiDAR and camera data captured across a range of urban and suburban geographies. It is 15x more diverse than the largest camera+LiDAR dataset available based on our proposed diversity metric. We exhaustively annotated this data with 2D (camera image) and 3D (LiDAR) bounding boxes, with consistent identifiers across frames. Finally, we provide strong baselines for 2D as well as 3D detection and tracking tasks. We further study the effects of dataset size and generalization across geographies on 3D detection methods. Find data, code and more up-to-date information at http://www.waymo.com/open.
Related Topics
Concepts
Computer science
Lidar
Identifier
Scalability
Metric (unit)
Generalization
Ranging
Resource (disambiguation)
Bounding overwatch
Artificial intelligence
Scale (ratio)
Intersection (aeronautics)
Data mining
Geography
Database
Remote sensing
Cartography
Economics
Computer network
Operations management
Mathematics
Mathematical analysis
Telecommunications
Programming language
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/1912.04838
- https://arxiv.org/pdf/1912.04838
- OA Status
- green
- Cited By
- 228
- References
- 21
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2995681297
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W2995681297Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.48550/arxiv.1912.04838Digital Object Identifier
- Title
-
Scalability in Perception for Autonomous Driving: Waymo Open DatasetWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2019Year of publication
- Publication date
-
2019-12-10Full publication date if available
- Authors
-
Pei Sun, Henrik Kretzschmar, Xerxes Dotiwalla, Aurélien Chouard, Vijaysai Patnaik, Paul Tsui, James C. Y. Guo, Yin Zhou, Yuning Chai, Benjamin Caine, Vijay Vasudevan, Wei Han, Jiquan Ngiam, Hang Zhao, Aleksei Timofeev, Scott Ettinger, Maxim Krivokon, Amy Gao, Aditya Joshi, Sheng Zhao, Shuyang Cheng, Yu Zhang, Jonathon Shlens, Zhifeng Chen, Dragomir AnguelovList of authors in order
- Landing page
-
https://arxiv.org/abs/1912.04838Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/1912.04838Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/1912.04838Direct OA link when available
- Concepts
-
Computer science, Lidar, Identifier, Scalability, Metric (unit), Generalization, Ranging, Resource (disambiguation), Bounding overwatch, Artificial intelligence, Scale (ratio), Intersection (aeronautics), Data mining, Geography, Database, Remote sensing, Cartography, Economics, Computer network, Operations management, Mathematics, Mathematical analysis, Telecommunications, Programming languageTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
228Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 8, 2024: 38, 2023: 27, 2022: 31, 2021: 61Per-year citation counts (last 5 years)
- References (count)
-
21Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
Full payload
| id | https://openalex.org/W2995681297 |
|---|---|
| doi | https://doi.org/10.48550/arxiv.1912.04838 |
| ids.doi | https://doi.org/10.48550/arxiv.1912.04838 |
| ids.mag | 2995681297 |
| ids.openalex | https://openalex.org/W2995681297 |
| fwci | |
| type | preprint |
| title | Scalability in Perception for Autonomous Driving: Waymo Open Dataset |
| biblio.issue | |
| biblio.volume | |
| biblio.last_page | |
| biblio.first_page | |
| topics[0].id | https://openalex.org/T11099 |
| topics[0].field.id | https://openalex.org/fields/22 |
| topics[0].field.display_name | Engineering |
| topics[0].score | 0.9994999766349792 |
| topics[0].domain.id | https://openalex.org/domains/3 |
| topics[0].domain.display_name | Physical Sciences |
| topics[0].subfield.id | https://openalex.org/subfields/2203 |
| topics[0].subfield.display_name | Automotive Engineering |
| topics[0].display_name | Autonomous Vehicle Technology and Safety |
| topics[1].id | https://openalex.org/T10331 |
| topics[1].field.id | https://openalex.org/fields/17 |
| topics[1].field.display_name | Computer Science |
| topics[1].score | 0.9994999766349792 |
| topics[1].domain.id | https://openalex.org/domains/3 |
| topics[1].domain.display_name | Physical Sciences |
| topics[1].subfield.id | https://openalex.org/subfields/1707 |
| topics[1].subfield.display_name | Computer Vision and Pattern Recognition |
| topics[1].display_name | Video Surveillance and Tracking Methods |
| topics[2].id | https://openalex.org/T10036 |
| topics[2].field.id | https://openalex.org/fields/17 |
| topics[2].field.display_name | Computer Science |
| topics[2].score | 0.9983000159263611 |
| topics[2].domain.id | https://openalex.org/domains/3 |
| topics[2].domain.display_name | Physical Sciences |
| topics[2].subfield.id | https://openalex.org/subfields/1707 |
| topics[2].subfield.display_name | Computer Vision and Pattern Recognition |
| topics[2].display_name | Advanced Neural Network Applications |
| is_xpac | False |
| apc_list | |
| apc_paid | |
| concepts[0].id | https://openalex.org/C41008148 |
| concepts[0].level | 0 |
| concepts[0].score | 0.7511653900146484 |
| concepts[0].wikidata | https://www.wikidata.org/wiki/Q21198 |
| concepts[0].display_name | Computer science |
| concepts[1].id | https://openalex.org/C51399673 |
| concepts[1].level | 2 |
| concepts[1].score | 0.6404127478599548 |
| concepts[1].wikidata | https://www.wikidata.org/wiki/Q504027 |
| concepts[1].display_name | Lidar |
| concepts[2].id | https://openalex.org/C154504017 |
| concepts[2].level | 2 |
| concepts[2].score | 0.6242429614067078 |
| concepts[2].wikidata | https://www.wikidata.org/wiki/Q853614 |
| concepts[2].display_name | Identifier |
| concepts[3].id | https://openalex.org/C48044578 |
| concepts[3].level | 2 |
| concepts[3].score | 0.5551512241363525 |
| concepts[3].wikidata | https://www.wikidata.org/wiki/Q727490 |
| concepts[3].display_name | Scalability |
| concepts[4].id | https://openalex.org/C176217482 |
| concepts[4].level | 2 |
| concepts[4].score | 0.5388652086257935 |
| concepts[4].wikidata | https://www.wikidata.org/wiki/Q860554 |
| concepts[4].display_name | Metric (unit) |
| concepts[5].id | https://openalex.org/C177148314 |
| concepts[5].level | 2 |
| concepts[5].score | 0.5058228969573975 |
| concepts[5].wikidata | https://www.wikidata.org/wiki/Q170084 |
| concepts[5].display_name | Generalization |
| concepts[6].id | https://openalex.org/C115051666 |
| concepts[6].level | 2 |
| concepts[6].score | 0.46655410528182983 |
| concepts[6].wikidata | https://www.wikidata.org/wiki/Q6522493 |
| concepts[6].display_name | Ranging |
| concepts[7].id | https://openalex.org/C206345919 |
| concepts[7].level | 2 |
| concepts[7].score | 0.45474573969841003 |
| concepts[7].wikidata | https://www.wikidata.org/wiki/Q20380951 |
| concepts[7].display_name | Resource (disambiguation) |
| concepts[8].id | https://openalex.org/C63584917 |
| concepts[8].level | 2 |
| concepts[8].score | 0.44917720556259155 |
| concepts[8].wikidata | https://www.wikidata.org/wiki/Q333286 |
| concepts[8].display_name | Bounding overwatch |
| concepts[9].id | https://openalex.org/C154945302 |
| concepts[9].level | 1 |
| concepts[9].score | 0.43065235018730164 |
| concepts[9].wikidata | https://www.wikidata.org/wiki/Q11660 |
| concepts[9].display_name | Artificial intelligence |
| concepts[10].id | https://openalex.org/C2778755073 |
| concepts[10].level | 2 |
| concepts[10].score | 0.42439591884613037 |
| concepts[10].wikidata | https://www.wikidata.org/wiki/Q10858537 |
| concepts[10].display_name | Scale (ratio) |
| concepts[11].id | https://openalex.org/C64543145 |
| concepts[11].level | 2 |
| concepts[11].score | 0.4132213890552521 |
| concepts[11].wikidata | https://www.wikidata.org/wiki/Q162942 |
| concepts[11].display_name | Intersection (aeronautics) |
| concepts[12].id | https://openalex.org/C124101348 |
| concepts[12].level | 1 |
| concepts[12].score | 0.38596487045288086 |
| concepts[12].wikidata | https://www.wikidata.org/wiki/Q172491 |
| concepts[12].display_name | Data mining |
| concepts[13].id | https://openalex.org/C205649164 |
| concepts[13].level | 0 |
| concepts[13].score | 0.23086845874786377 |
| concepts[13].wikidata | https://www.wikidata.org/wiki/Q1071 |
| concepts[13].display_name | Geography |
| concepts[14].id | https://openalex.org/C77088390 |
| concepts[14].level | 1 |
| concepts[14].score | 0.22839811444282532 |
| concepts[14].wikidata | https://www.wikidata.org/wiki/Q8513 |
| concepts[14].display_name | Database |
| concepts[15].id | https://openalex.org/C62649853 |
| concepts[15].level | 1 |
| concepts[15].score | 0.20272386074066162 |
| concepts[15].wikidata | https://www.wikidata.org/wiki/Q199687 |
| concepts[15].display_name | Remote sensing |
| concepts[16].id | https://openalex.org/C58640448 |
| concepts[16].level | 1 |
| concepts[16].score | 0.14634406566619873 |
| concepts[16].wikidata | https://www.wikidata.org/wiki/Q42515 |
| concepts[16].display_name | Cartography |
| concepts[17].id | https://openalex.org/C162324750 |
| concepts[17].level | 0 |
| concepts[17].score | 0.0 |
| concepts[17].wikidata | https://www.wikidata.org/wiki/Q8134 |
| concepts[17].display_name | Economics |
| concepts[18].id | https://openalex.org/C31258907 |
| concepts[18].level | 1 |
| concepts[18].score | 0.0 |
| concepts[18].wikidata | https://www.wikidata.org/wiki/Q1301371 |
| concepts[18].display_name | Computer network |
| concepts[19].id | https://openalex.org/C21547014 |
| concepts[19].level | 1 |
| concepts[19].score | 0.0 |
| concepts[19].wikidata | https://www.wikidata.org/wiki/Q1423657 |
| concepts[19].display_name | Operations management |
| concepts[20].id | https://openalex.org/C33923547 |
| concepts[20].level | 0 |
| concepts[20].score | 0.0 |
| concepts[20].wikidata | https://www.wikidata.org/wiki/Q395 |
| concepts[20].display_name | Mathematics |
| concepts[21].id | https://openalex.org/C134306372 |
| concepts[21].level | 1 |
| concepts[21].score | 0.0 |
| concepts[21].wikidata | https://www.wikidata.org/wiki/Q7754 |
| concepts[21].display_name | Mathematical analysis |
| concepts[22].id | https://openalex.org/C76155785 |
| concepts[22].level | 1 |
| concepts[22].score | 0.0 |
| concepts[22].wikidata | https://www.wikidata.org/wiki/Q418 |
| concepts[22].display_name | Telecommunications |
| concepts[23].id | https://openalex.org/C199360897 |
| concepts[23].level | 1 |
| concepts[23].score | 0.0 |
| concepts[23].wikidata | https://www.wikidata.org/wiki/Q9143 |
| concepts[23].display_name | Programming language |
| keywords[0].id | https://openalex.org/keywords/computer-science |
| keywords[0].score | 0.7511653900146484 |
| keywords[0].display_name | Computer science |
| keywords[1].id | https://openalex.org/keywords/lidar |
| keywords[1].score | 0.6404127478599548 |
| keywords[1].display_name | Lidar |
| keywords[2].id | https://openalex.org/keywords/identifier |
| keywords[2].score | 0.6242429614067078 |
| keywords[2].display_name | Identifier |
| keywords[3].id | https://openalex.org/keywords/scalability |
| keywords[3].score | 0.5551512241363525 |
| keywords[3].display_name | Scalability |
| keywords[4].id | https://openalex.org/keywords/metric |
| keywords[4].score | 0.5388652086257935 |
| keywords[4].display_name | Metric (unit) |
| keywords[5].id | https://openalex.org/keywords/generalization |
| keywords[5].score | 0.5058228969573975 |
| keywords[5].display_name | Generalization |
| keywords[6].id | https://openalex.org/keywords/ranging |
| keywords[6].score | 0.46655410528182983 |
| keywords[6].display_name | Ranging |
| keywords[7].id | https://openalex.org/keywords/resource |
| keywords[7].score | 0.45474573969841003 |
| keywords[7].display_name | Resource (disambiguation) |
| keywords[8].id | https://openalex.org/keywords/bounding-overwatch |
| keywords[8].score | 0.44917720556259155 |
| keywords[8].display_name | Bounding overwatch |
| keywords[9].id | https://openalex.org/keywords/artificial-intelligence |
| keywords[9].score | 0.43065235018730164 |
| keywords[9].display_name | Artificial intelligence |
| keywords[10].id | https://openalex.org/keywords/scale |
| keywords[10].score | 0.42439591884613037 |
| keywords[10].display_name | Scale (ratio) |
| keywords[11].id | https://openalex.org/keywords/intersection |
| keywords[11].score | 0.4132213890552521 |
| keywords[11].display_name | Intersection (aeronautics) |
| keywords[12].id | https://openalex.org/keywords/data-mining |
| keywords[12].score | 0.38596487045288086 |
| keywords[12].display_name | Data mining |
| keywords[13].id | https://openalex.org/keywords/geography |
| keywords[13].score | 0.23086845874786377 |
| keywords[13].display_name | Geography |
| keywords[14].id | https://openalex.org/keywords/database |
| keywords[14].score | 0.22839811444282532 |
| keywords[14].display_name | Database |
| keywords[15].id | https://openalex.org/keywords/remote-sensing |
| keywords[15].score | 0.20272386074066162 |
| keywords[15].display_name | Remote sensing |
| keywords[16].id | https://openalex.org/keywords/cartography |
| keywords[16].score | 0.14634406566619873 |
| keywords[16].display_name | Cartography |
| language | en |
| locations[0].id | pmh:oai:arXiv.org:1912.04838 |
| locations[0].is_oa | True |
| locations[0].source.id | https://openalex.org/S4306400194 |
| locations[0].source.issn | |
| locations[0].source.type | repository |
| locations[0].source.is_oa | True |
| locations[0].source.issn_l | |
| locations[0].source.is_core | False |
| locations[0].source.is_in_doaj | False |
| locations[0].source.display_name | arXiv (Cornell University) |
| locations[0].source.host_organization | https://openalex.org/I205783295 |
| locations[0].source.host_organization_name | Cornell University |
| locations[0].source.host_organization_lineage | https://openalex.org/I205783295 |
| locations[0].license | |
| locations[0].pdf_url | https://arxiv.org/pdf/1912.04838 |
| locations[0].version | submittedVersion |
| locations[0].raw_type | text |
| locations[0].license_id | |
| locations[0].is_accepted | False |
| locations[0].is_published | False |
| locations[0].raw_source_name | |
| locations[0].landing_page_url | http://arxiv.org/abs/1912.04838 |
| locations[1].id | doi:10.48550/arxiv.1912.04838 |
| locations[1].is_oa | True |
| locations[1].source.id | https://openalex.org/S4306400194 |
| locations[1].source.issn | |
| locations[1].source.type | repository |
| locations[1].source.is_oa | True |
| locations[1].source.issn_l | |
| locations[1].source.is_core | False |
| locations[1].source.is_in_doaj | False |
| locations[1].source.display_name | arXiv (Cornell University) |
| locations[1].source.host_organization | https://openalex.org/I205783295 |
| locations[1].source.host_organization_name | Cornell University |
| locations[1].source.host_organization_lineage | https://openalex.org/I205783295 |
| locations[1].license | |
| locations[1].pdf_url | |
| locations[1].version | |
| locations[1].raw_type | article |
| locations[1].license_id | |
| locations[1].is_accepted | False |
| locations[1].is_published | |
| locations[1].raw_source_name | |
| locations[1].landing_page_url | https://doi.org/10.48550/arxiv.1912.04838 |
| indexed_in | arxiv, datacite |
| authorships[0].author.id | https://openalex.org/A5060736311 |
| authorships[0].author.orcid | https://orcid.org/0000-0002-4651-6227 |
| authorships[0].author.display_name | Pei Sun |
| authorships[0].author_position | first |
| authorships[0].raw_author_name | Pei Sun |
| authorships[0].is_corresponding | False |
| authorships[1].author.id | https://openalex.org/A5012355769 |
| authorships[1].author.orcid | |
| authorships[1].author.display_name | Henrik Kretzschmar |
| authorships[1].author_position | middle |
| authorships[1].raw_author_name | Henrik Kretzschmar |
| authorships[1].is_corresponding | False |
| authorships[2].author.id | https://openalex.org/A5071263925 |
| authorships[2].author.orcid | |
| authorships[2].author.display_name | Xerxes Dotiwalla |
| authorships[2].author_position | middle |
| authorships[2].raw_author_name | Xerxes Dotiwalla |
| authorships[2].is_corresponding | False |
| authorships[3].author.id | https://openalex.org/A5045350369 |
| authorships[3].author.orcid | |
| authorships[3].author.display_name | Aurélien Chouard |
| authorships[3].author_position | middle |
| authorships[3].raw_author_name | Aurelien Chouard |
| authorships[3].is_corresponding | False |
| authorships[4].author.id | https://openalex.org/A5073110885 |
| authorships[4].author.orcid | |
| authorships[4].author.display_name | Vijaysai Patnaik |
| authorships[4].author_position | middle |
| authorships[4].raw_author_name | Vijaysai Patnaik |
| authorships[4].is_corresponding | False |
| authorships[5].author.id | https://openalex.org/A5027120927 |
| authorships[5].author.orcid | |
| authorships[5].author.display_name | Paul Tsui |
| authorships[5].author_position | middle |
| authorships[5].raw_author_name | Paul Tsui |
| authorships[5].is_corresponding | False |
| authorships[6].author.id | https://openalex.org/A5101075193 |
| authorships[6].author.orcid | |
| authorships[6].author.display_name | James C. Y. Guo |
| authorships[6].author_position | middle |
| authorships[6].raw_author_name | James Guo |
| authorships[6].is_corresponding | False |
| authorships[7].author.id | https://openalex.org/A5101397478 |
| authorships[7].author.orcid | https://orcid.org/0000-0001-6872-6631 |
| authorships[7].author.display_name | Yin Zhou |
| authorships[7].author_position | middle |
| authorships[7].raw_author_name | Yin Zhou |
| authorships[7].is_corresponding | False |
| authorships[8].author.id | https://openalex.org/A5079961895 |
| authorships[8].author.orcid | |
| authorships[8].author.display_name | Yuning Chai |
| authorships[8].author_position | middle |
| authorships[8].raw_author_name | Yuning Chai |
| authorships[8].is_corresponding | False |
| authorships[9].author.id | https://openalex.org/A5008894717 |
| authorships[9].author.orcid | |
| authorships[9].author.display_name | Benjamin Caine |
| authorships[9].author_position | middle |
| authorships[9].raw_author_name | Benjamin Caine |
| authorships[9].is_corresponding | False |
| authorships[10].author.id | https://openalex.org/A5004650249 |
| authorships[10].author.orcid | |
| authorships[10].author.display_name | Vijay Vasudevan |
| authorships[10].author_position | middle |
| authorships[10].raw_author_name | Vijay Vasudevan |
| authorships[10].is_corresponding | False |
| authorships[11].author.id | https://openalex.org/A5100750908 |
| authorships[11].author.orcid | https://orcid.org/0000-0003-3882-1616 |
| authorships[11].author.display_name | Wei Han |
| authorships[11].author_position | middle |
| authorships[11].raw_author_name | Wei Han |
| authorships[11].is_corresponding | False |
| authorships[12].author.id | https://openalex.org/A5045825594 |
| authorships[12].author.orcid | |
| authorships[12].author.display_name | Jiquan Ngiam |
| authorships[12].author_position | middle |
| authorships[12].raw_author_name | Jiquan Ngiam |
| authorships[12].is_corresponding | False |
| authorships[13].author.id | https://openalex.org/A5101826599 |
| authorships[13].author.orcid | https://orcid.org/0000-0003-0648-9823 |
| authorships[13].author.display_name | Hang Zhao |
| authorships[13].author_position | middle |
| authorships[13].raw_author_name | Hang Zhao |
| authorships[13].is_corresponding | False |
| authorships[14].author.id | https://openalex.org/A5005934225 |
| authorships[14].author.orcid | |
| authorships[14].author.display_name | Aleksei Timofeev |
| authorships[14].author_position | middle |
| authorships[14].raw_author_name | Aleksei Timofeev |
| authorships[14].is_corresponding | False |
| authorships[15].author.id | https://openalex.org/A5055236319 |
| authorships[15].author.orcid | |
| authorships[15].author.display_name | Scott Ettinger |
| authorships[15].author_position | middle |
| authorships[15].raw_author_name | Scott Ettinger |
| authorships[15].is_corresponding | False |
| authorships[16].author.id | https://openalex.org/A5051342185 |
| authorships[16].author.orcid | |
| authorships[16].author.display_name | Maxim Krivokon |
| authorships[16].author_position | middle |
| authorships[16].raw_author_name | Maxim Krivokon |
| authorships[16].is_corresponding | False |
| authorships[17].author.id | https://openalex.org/A5013171165 |
| authorships[17].author.orcid | https://orcid.org/0000-0002-1102-8733 |
| authorships[17].author.display_name | Amy Gao |
| authorships[17].author_position | middle |
| authorships[17].raw_author_name | Amy Gao |
| authorships[17].is_corresponding | False |
| authorships[18].author.id | https://openalex.org/A5101805634 |
| authorships[18].author.orcid | https://orcid.org/0000-0003-4392-5401 |
| authorships[18].author.display_name | Aditya Joshi |
| authorships[18].author_position | middle |
| authorships[18].raw_author_name | Aditya Joshi |
| authorships[18].is_corresponding | False |
| authorships[19].author.id | https://openalex.org/A5110249839 |
| authorships[19].author.orcid | |
| authorships[19].author.display_name | Sheng Zhao |
| authorships[19].author_position | middle |
| authorships[19].raw_author_name | Sheng Zhao |
| authorships[19].is_corresponding | False |
| authorships[20].author.id | https://openalex.org/A5038305187 |
| authorships[20].author.orcid | |
| authorships[20].author.display_name | Shuyang Cheng |
| authorships[20].author_position | middle |
| authorships[20].raw_author_name | Shuyang Cheng |
| authorships[20].is_corresponding | False |
| authorships[21].author.id | https://openalex.org/A5100433657 |
| authorships[21].author.orcid | https://orcid.org/0000-0002-9896-2608 |
| authorships[21].author.display_name | Yu Zhang |
| authorships[21].author_position | middle |
| authorships[21].raw_author_name | Yu Zhang |
| authorships[21].is_corresponding | False |
| authorships[22].author.id | https://openalex.org/A5032356827 |
| authorships[22].author.orcid | https://orcid.org/0000-0001-9513-4244 |
| authorships[22].author.display_name | Jonathon Shlens |
| authorships[22].author_position | middle |
| authorships[22].raw_author_name | Jonathon Shlens |
| authorships[22].is_corresponding | False |
| authorships[23].author.id | https://openalex.org/A5100715421 |
| authorships[23].author.orcid | https://orcid.org/0000-0001-5137-1344 |
| authorships[23].author.display_name | Zhifeng Chen |
| authorships[23].author_position | middle |
| authorships[23].raw_author_name | Zhifeng Chen |
| authorships[23].is_corresponding | False |
| authorships[24].author.id | https://openalex.org/A5081024054 |
| authorships[24].author.orcid | |
| authorships[24].author.display_name | Dragomir Anguelov |
| authorships[24].author_position | last |
| authorships[24].raw_author_name | Dragomir Anguelov |
| authorships[24].is_corresponding | False |
| has_content.pdf | True |
| has_content.grobid_xml | True |
| is_paratext | False |
| open_access.is_oa | True |
| open_access.oa_url | https://arxiv.org/pdf/1912.04838 |
| open_access.oa_status | green |
| open_access.any_repository_has_fulltext | False |
| created_date | 2025-10-10T00:00:00 |
| display_name | Scalability in Perception for Autonomous Driving: Waymo Open Dataset |
| has_fulltext | False |
| is_retracted | False |
| updated_date | 2025-11-06T06:51:31.235846 |
| primary_topic.id | https://openalex.org/T11099 |
| primary_topic.field.id | https://openalex.org/fields/22 |
| primary_topic.field.display_name | Engineering |
| primary_topic.score | 0.9994999766349792 |
| primary_topic.domain.id | https://openalex.org/domains/3 |
| primary_topic.domain.display_name | Physical Sciences |
| primary_topic.subfield.id | https://openalex.org/subfields/2203 |
| primary_topic.subfield.display_name | Automotive Engineering |
| primary_topic.display_name | Autonomous Vehicle Technology and Safety |
| related_works | https://openalex.org/W2783354812, https://openalex.org/W4384112194, https://openalex.org/W4312958259, https://openalex.org/W2103009189, https://openalex.org/W4308259661, https://openalex.org/W4390813131, https://openalex.org/W2349383066, https://openalex.org/W4328132048, https://openalex.org/W2594043982, https://openalex.org/W3036493597 |
| cited_by_count | 228 |
| counts_by_year[0].year | 2025 |
| counts_by_year[0].cited_by_count | 8 |
| counts_by_year[1].year | 2024 |
| counts_by_year[1].cited_by_count | 38 |
| counts_by_year[2].year | 2023 |
| counts_by_year[2].cited_by_count | 27 |
| counts_by_year[3].year | 2022 |
| counts_by_year[3].cited_by_count | 31 |
| counts_by_year[4].year | 2021 |
| counts_by_year[4].cited_by_count | 61 |
| counts_by_year[5].year | 2020 |
| counts_by_year[5].cited_by_count | 61 |
| counts_by_year[6].year | 2019 |
| counts_by_year[6].cited_by_count | 1 |
| counts_by_year[7].year | 2018 |
| counts_by_year[7].cited_by_count | 1 |
| locations_count | 2 |
| best_oa_location.id | pmh:oai:arXiv.org:1912.04838 |
| best_oa_location.is_oa | True |
| best_oa_location.source.id | https://openalex.org/S4306400194 |
| best_oa_location.source.issn | |
| best_oa_location.source.type | repository |
| best_oa_location.source.is_oa | True |
| best_oa_location.source.issn_l | |
| best_oa_location.source.is_core | False |
| best_oa_location.source.is_in_doaj | False |
| best_oa_location.source.display_name | arXiv (Cornell University) |
| best_oa_location.source.host_organization | https://openalex.org/I205783295 |
| best_oa_location.source.host_organization_name | Cornell University |
| best_oa_location.source.host_organization_lineage | https://openalex.org/I205783295 |
| best_oa_location.license | |
| best_oa_location.pdf_url | https://arxiv.org/pdf/1912.04838 |
| best_oa_location.version | submittedVersion |
| best_oa_location.raw_type | text |
| best_oa_location.license_id | |
| best_oa_location.is_accepted | False |
| best_oa_location.is_published | False |
| best_oa_location.raw_source_name | |
| best_oa_location.landing_page_url | http://arxiv.org/abs/1912.04838 |
| primary_location.id | pmh:oai:arXiv.org:1912.04838 |
| primary_location.is_oa | True |
| primary_location.source.id | https://openalex.org/S4306400194 |
| primary_location.source.issn | |
| primary_location.source.type | repository |
| primary_location.source.is_oa | True |
| primary_location.source.issn_l | |
| primary_location.source.is_core | False |
| primary_location.source.is_in_doaj | False |
| primary_location.source.display_name | arXiv (Cornell University) |
| primary_location.source.host_organization | https://openalex.org/I205783295 |
| primary_location.source.host_organization_name | Cornell University |
| primary_location.source.host_organization_lineage | https://openalex.org/I205783295 |
| primary_location.license | |
| primary_location.pdf_url | https://arxiv.org/pdf/1912.04838 |
| primary_location.version | submittedVersion |
| primary_location.raw_type | text |
| primary_location.license_id | |
| primary_location.is_accepted | False |
| primary_location.is_published | False |
| primary_location.raw_source_name | |
| primary_location.landing_page_url | http://arxiv.org/abs/1912.04838 |
| publication_date | 2019-12-10 |
| publication_year | 2019 |
| referenced_works | https://openalex.org/W2115579991, https://openalex.org/W2124781496, https://openalex.org/W2956985883, https://openalex.org/W3031752193, https://openalex.org/W2925148167, https://openalex.org/W2991216808, https://openalex.org/W2560609797, https://openalex.org/W2955189650, https://openalex.org/W2150066425, https://openalex.org/W2968296999, https://openalex.org/W2108598243, https://openalex.org/W2222512263, https://openalex.org/W2949650786, https://openalex.org/W2948672349, https://openalex.org/W2953106684, https://openalex.org/W2920625195, https://openalex.org/W2963727135, https://openalex.org/W2895071559, https://openalex.org/W3045487042, https://openalex.org/W2983397630, https://openalex.org/W2737258237 |
| referenced_works_count | 21 |
| abstract_inverted_index.a | 68, 102 |
| abstract_inverted_index.20 | 86 |
| abstract_inverted_index.2D | 132, 151 |
| abstract_inverted_index.3D | 136, 155, 173 |
| abstract_inverted_index.In | 52 |
| abstract_inverted_index.It | 109 |
| abstract_inverted_index.We | 126, 160 |
| abstract_inverted_index.an | 53 |
| abstract_inverted_index.as | 152, 154 |
| abstract_inverted_index.at | 183 |
| abstract_inverted_index.in | 6, 25 |
| abstract_inverted_index.is | 43, 110 |
| abstract_inverted_index.of | 14, 30, 49, 80, 89, 104, 165 |
| abstract_inverted_index.on | 121, 172 |
| abstract_inverted_index.to | 45, 55 |
| abstract_inverted_index.we | 66, 146 |
| abstract_inverted_index.15x | 111 |
| abstract_inverted_index.Our | 76 |
| abstract_inverted_index.The | 0 |
| abstract_inverted_index.and | 28, 39, 92, 97, 106, 135, 157, 168, 179 |
| abstract_inverted_index.are | 23 |
| abstract_inverted_index.for | 150 |
| abstract_inverted_index.has | 3 |
| abstract_inverted_index.new | 69, 77 |
| abstract_inverted_index.our | 122 |
| abstract_inverted_index.the | 11, 26, 31, 46, 50, 58, 115, 163 |
| abstract_inverted_index.1150 | 81 |
| abstract_inverted_index.Find | 176 |
| abstract_inverted_index.code | 178 |
| abstract_inverted_index.data | 99, 130 |
| abstract_inverted_index.each | 84 |
| abstract_inverted_index.even | 35 |
| abstract_inverted_index.help | 56 |
| abstract_inverted_index.high | 72, 94 |
| abstract_inverted_index.more | 112, 180 |
| abstract_inverted_index.real | 17 |
| abstract_inverted_index.size | 167 |
| abstract_inverted_index.span | 85 |
| abstract_inverted_index.than | 114 |
| abstract_inverted_index.that | 83 |
| abstract_inverted_index.they | 33 |
| abstract_inverted_index.this | 129 |
| abstract_inverted_index.well | 90, 153 |
| abstract_inverted_index.with | 62, 131, 140 |
| abstract_inverted_index.LiDAR | 96 |
| abstract_inverted_index.align | 57 |
| abstract_inverted_index.based | 120 |
| abstract_inverted_index.data, | 177 |
| abstract_inverted_index.data. | 19 |
| abstract_inverted_index.large | 70 |
| abstract_inverted_index.range | 103 |
| abstract_inverted_index.scale | 27 |
| abstract_inverted_index.study | 162 |
| abstract_inverted_index.urban | 105 |
| abstract_inverted_index.world | 18 |
| abstract_inverted_index.across | 101, 143, 170 |
| abstract_inverted_index.boxes, | 139 |
| abstract_inverted_index.camera | 98 |
| abstract_inverted_index.effort | 54 |
| abstract_inverted_index.image) | 134 |
| abstract_inverted_index.scale, | 71 |
| abstract_inverted_index.scenes | 82 |
| abstract_inverted_index.strong | 148 |
| abstract_inverted_index.tasks. | 159 |
| abstract_inverted_index.though | 36 |
| abstract_inverted_index.within | 38 |
| abstract_inverted_index.(LiDAR) | 137 |
| abstract_inverted_index.(camera | 133 |
| abstract_inverted_index.between | 40 |
| abstract_inverted_index.crucial | 44 |
| abstract_inverted_index.dataset | 78, 118, 166 |
| abstract_inverted_index.despite | 10 |
| abstract_inverted_index.diverse | 74, 113 |
| abstract_inverted_index.driving | 8 |
| abstract_inverted_index.effects | 164 |
| abstract_inverted_index.frames. | 144 |
| abstract_inverted_index.further | 161 |
| abstract_inverted_index.largest | 116 |
| abstract_inverted_index.limited | 24 |
| abstract_inverted_index.metric. | 125 |
| abstract_inverted_index.overall | 47 |
| abstract_inverted_index.provide | 147 |
| abstract_inverted_index.quality | 95 |
| abstract_inverted_index.regions | 42 |
| abstract_inverted_index.Existing | 20 |
| abstract_inverted_index.Finally, | 145 |
| abstract_inverted_index.bounding | 138 |
| abstract_inverted_index.capture, | 34 |
| abstract_inverted_index.captured | 100 |
| abstract_inverted_index.consists | 79 |
| abstract_inverted_index.dataset. | 75 |
| abstract_inverted_index.datasets | 22 |
| abstract_inverted_index.interest | 5 |
| abstract_inverted_index.methods. | 175 |
| abstract_inverted_index.proposed | 123 |
| abstract_inverted_index.quality, | 73 |
| abstract_inverted_index.research | 1, 59 |
| abstract_inverted_index.resource | 12 |
| abstract_inverted_index.seconds, | 87 |
| abstract_inverted_index.suburban | 107 |
| abstract_inverted_index.tracking | 158 |
| abstract_inverted_index.annotated | 128 |
| abstract_inverted_index.available | 119 |
| abstract_inverted_index.baselines | 149 |
| abstract_inverted_index.community | 2 |
| abstract_inverted_index.detection | 156, 174 |
| abstract_inverted_index.diversity | 124 |
| abstract_inverted_index.intensity | 13 |
| abstract_inverted_index.introduce | 67 |
| abstract_inverted_index.obtaining | 15 |
| abstract_inverted_index.operating | 41 |
| abstract_inverted_index.problems, | 65 |
| abstract_inverted_index.research, | 9 |
| abstract_inverted_index.variation | 29 |
| abstract_inverted_index.viability | 48 |
| abstract_inverted_index.autonomous | 7 |
| abstract_inverted_index.calibrated | 93 |
| abstract_inverted_index.consistent | 141 |
| abstract_inverted_index.consisting | 88 |
| abstract_inverted_index.increasing | 4 |
| abstract_inverted_index.real-world | 63 |
| abstract_inverted_index.up-to-date | 181 |
| abstract_inverted_index.community's | 60 |
| abstract_inverted_index.geographies | 171 |
| abstract_inverted_index.identifiers | 142 |
| abstract_inverted_index.information | 182 |
| abstract_inverted_index.technology. | 51 |
| abstract_inverted_index.camera+LiDAR | 117 |
| abstract_inverted_index.environments | 32 |
| abstract_inverted_index.exhaustively | 127 |
| abstract_inverted_index.geographies. | 108 |
| abstract_inverted_index.self-driving | 21, 64 |
| abstract_inverted_index.synchronized | 91 |
| abstract_inverted_index.contributions | 61 |
| abstract_inverted_index.generalization | 37, 169 |
| abstract_inverted_index.representative | 16 |
| abstract_inverted_index.http://www.waymo.com/open. | 184 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 25 |
| sustainable_development_goals[0].id | https://metadata.un.org/sdg/11 |
| sustainable_development_goals[0].score | 0.41999998688697815 |
| sustainable_development_goals[0].display_name | Sustainable cities and communities |
| citation_normalized_percentile |