Zenseact Open Dataset: A large-scale and diverse multimodal dataset for autonomous driving
Paper in proceeding, 2023

Existing datasets for autonomous driving (AD) often lack diversity and long-range capabilities, focusing instead on 360° perception and temporal reasoning. To address this gap, we introduce Zenseact Open Dataset (ZOD), a large- scale and diverse multimodal dataset collected over two years in various European countries, covering an area 9×that of existing datasets. ZOD boasts the highest range and resolution sensors among comparable datasets, coupled with detailed keyframe annotations for 2D and 3D objects (up to 245m), road instance/semantic segmentation, traffic sign recognition, and road classification. We believe that this unique combination will facilitate breakthroughs in long-range perception and multi-task learning. The dataset is composed of Frames, Sequences, and Drives, designed to encompass both data diversity and support for spatio-temporal learning, sensor fusion, localization, and mapping. Frames consist of 100k curated camera images with two seconds of other supporting sensor data, while the 1473 Sequences and 29 Drives include the entire sensor suite for 20 seconds and a few minutes, respectively. ZOD is the only large-scale AD dataset released under a permissive license, allowing for both research and commercial use. More information, and an extensive devkit, can be found at zod.zenseact.com.

autonoma fordon


Autonomous driving


Mina Alibeigi

William Ljungbergh

Adam Tonderski

Georg Hess

Chalmers, Electrical Engineering, Signal Processing and Biomedical Engineering

Adam Lilja

Chalmers, Electrical Engineering, Signal Processing and Biomedical Engineering

Carl Lindström

Chalmers, Electrical Engineering, Signal Processing and Biomedical Engineering

Daria Motorniuk

Junsheng Fu

Jenny Widahl

Christoffer Petersson

Chalmers, Mathematical Sciences, Algebra and geometry

2023 IEEE/CVF International Conference on Computer Vision

2380-7504 (ISSN)

979-8-3503-0718-4 (ISBN)

Paris, France,

Deep multi-object tracking for self-driving vehicles

Wallenberg AI, Autonomous Systems and Software Program, 2021-08-01 -- 2025-08-01.

Areas of Advance


Subject Categories

Computer Science

Computer Vision and Robotics (Autonomous Systems)



Related datasets

Zenseact Open Dataset [dataset]

URI: https://zod.zenseact.com/

More information