The largest collection of traffic agent motion data.

This dataset includes the logs of movement of cars, cyclists, pedestrians, and other traffic agents encountered by our autonomous fleet. These logs come from processing raw lidar, camera, and radar data through our team¡¯s perception systems and are ideal for training motion prediction models. The dataset includes:

• hours of traffic agent movement.£¨1000+ £©
• miles of data from 23 vehicles.£¨16K£©
• semantic map annotations.£¨15K£©

Data Collection

Level 5¡¯s in-house sensor suite

Lidar

Our vehicles are equipped with 40 and 64-beam lidars on the roof and bumper. They have an Azimuth resolution of 0.2 degrees and jointly produce ~216,000 points at 10 Hz. Firing directions of all lidars are synchronized.

Camera

Our vehicles are also equipped with six 360¡ã cameras built in-house. One long-focal camera points upward. Cameras are synchronized with the lidar so the beam is at the center of each camera¡¯s field of view when images are captured.