Does Waymo provides the geographic coordinates (latitude, longitude, altitude) of the starting point (origin) of each segment

[miladsasha]

Hope you're doing great! I'm working on a project with the Waymo Open Dataset and I ran into a bit of a puzzle. I need to convert the "global" coordinates within each segment to actual geographic coordinates (like latitude and longitude), and for that, I need to know if the dataset provides the geographic origin (latitude, longitude, altitude) for each segment.

To be more precise, I have the global coordinates of the ego vehicle (global_center_x, global_center_y, global_center_z) which are directly extracted from the transformation matrix (sdc_pose) provided by the Waymo dataset. However, this global coordinate has no origin. They are specific for each segment. Thus, I am unable to locate each segment in Google Earth or GIS.