The Zenseact Open Dataset (ZOD) is a large-scale and diverse multi-modal autonomous driving (AD) dataset, created by researchers at Zenseact. It was collected over a 2-year period in 14 different European counties, using a fleet of vehicles equipped with a full sensor suite. The dataset consists of three subsets: Frames, Sequences, and Drives, designed to encompass both data diversity and support for spatiotemporal 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 released under the permissive CC BY-SA 4.0 license, allowing for both commercial and non-commercial use. For more information about the license, see here.