mlsanityData to 7 Oct 2026

WoodScape: A multi-task, multi-camera fisheye dataset for autonomous driving

arXiv 1905.01489 ↗First posted 4 May 2019cs.CV cs.AI cs.LGcited by 142

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Abstract (arXiv)

Fisheye cameras are commonly employed for obtaining a large field of view in surveillance, augmented reality and in particular automotive applications. In spite of their prevalence, there are few public datasets for detailed evaluation of computer vision algorithms on fisheye images. We release the first extensive fisheye automotive dataset, WoodScape, named after Robert Wood who invented the fisheye camera in 1906. WoodScape comprises of four surround view cameras and nine tasks including segmentation, depth estimation, 3D bounding box detection and soiling detection. Semantic annotation of 40 classes at the instance level is provided for over 10,000 images and annotation for other tasks are provided for over 100,000 images. With WoodScape, we would like to encourage the community to adapt computer vision models for fisheye camera instead of using naive rectification.

Key facts. Cited by 142 papers in the map (data through 7 Oct 2026). First posted on arXiv 4 May 2019.

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Citing papers per year: 2021: 24; 2022: 25; 2023: 30; 2024: 24; 2025: 24; 2026: 15.

142 papers.

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  1. 2023Segment Anythingcited by 8,158
  2. 2024SAM 2: Segment Anything in Images and Videoscited by 2,784
  3. 2021KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3Dcited by 570
  4. 2022V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Drivingcited by 157
  5. 20223D Object Detection for Autonomous Driving: A Comprehensive Surveycited by 132
  6. 2021Pano-AVQA: Grounded Audio-Visual Question Answering on 360^circ Videoscited by 86
  7. 2022Multi-modal Sensor Fusion for Auto Driving Perception: A Surveycited by 73
  8. 2022Bending Reality: Distortion-aware Transformers for Adapting to Panoramic Semantic Segmentationcited by 71
  9. 2021OmniDet: Surround View Cameras based Multi-task Visual Perception Network for Autonomous Drivingcited by 57
  10. 2022Waymo Open Dataset: Panoramic Video Panoptic Segmentationcited by 57
  11. 2021Active Learning for Domain Adaptation: An Energy-Based Approachcited by 53
  12. 2021Capturing Omni-Range Context for Omnidirectional Segmentationcited by 49
38 more
  1. 2022Behind Every Domain There is a Shift: Adapting Distortion-aware Vision Transformers for Panoramic Semantic Segmentationcited by 46
  2. 2022Review on Panoramic Imaging and Its Applications in Scene Understandingcited by 42
  3. 2025DICEPTION: A Generalist Diffusion Model for Visual Perceptual Taskscited by 37
  4. 2022Surround-view Fisheye Camera Perception for Automated Driving: Overview, Survey and Challengescited by 33
  5. 2022SynWoodScape: Synthetic Surround-view Fisheye Camera Dataset for Autonomous Drivingcited by 32
  6. 2025OmniNWM: Omniscient Driving Navigation World Modelscited by 32
  7. 2024The Oxford Spires Dataset: Benchmarking Large-Scale LiDAR-Visual Localisation, Reconstruction and Radiance Field Methodscited by 27
  8. 2022PanoFlow: Learning 360deg Optical Flow for Surrounding Temporal Understandingcited by 26
  9. 2021SVDistNet: Self-Supervised Near-Field Distance Estimation on Surround View Fisheye Camerascited by 25
  10. 2021Near-field Perception for Low-Speed Vehicle Automation using Surround-view Fisheye Camerascited by 24
  11. 2023What a MESS: Multi-Domain Evaluation of Zero-Shot Semantic Segmentationcited by 24
  12. 2024Forging Vision Foundation Models for Autonomous Driving: Challenges, Methodologies, and Opportunitiescited by 24
  13. 2022SELMA: SEmantic Large-scale Multimodal Acquisitions in Variable Weather, Daytime and Viewpointscited by 22
  14. 2023Open-sourced Data Ecosystem in Autonomous Driving: the Present and Futurecited by 22
  15. 2023FishEye8K: A Benchmark and Dataset for Fisheye Camera Object Detectioncited by 21
  16. 2023Deep Learning for Camera Calibration and Beyond: A Surveycited by 20
  17. 2023HEAL-SWIN: A Vision Transformer On The Spherecited by 18
  18. 2021Multi-Camera LiDAR Inertial Extension to the Newer College Datasetcited by 17
  19. 2025AnyCalib: On-Manifold Learning for Model-Agnostic Single-View Camera Calibrationcited by 17
  20. 2021MonoCInIS: Camera Independent Monocular 3D Object Detection using Instance Segmentationcited by 15
  21. 2022Panoramic Vision Transformer for Saliency Detection in 360deg Videoscited by 15
  22. 2024ZIM: Zero-Shot Image Matting for Anythingcited by 15
  23. 2021Adversarial Attacks on Multi-task Visual Perception for Autonomous Drivingcited by 14
  24. 2022Panoramic Panoptic Segmentation: Insights Into Surrounding Parsing for Mobile Agents via Unsupervised Contrastive Learningcited by 14
  25. 2023A Survey on Approximate Edge AI for Energy Efficient Autonomous Driving Servicescited by 14
  26. 2021Adaptable Deformable Convolutions for Semantic Segmentation of Fisheye Images in Autonomous Driving Systemscited by 13
  27. 2025SAM2 for Image and Video Segmentation: A Comprehensive Surveycited by 13
  28. 2023F2BEV: Bird's Eye View Generation from Surround-View Fisheye Camera Images for Automated Drivingcited by 12
  29. 2024Open-Vocabulary Segmentation with Unpaired Mask-Text Supervisioncited by 12
  30. 2022A Survey on RGB-D Datasetscited by 11
  31. 2022LF-VIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras with Negative Planecited by 11
  32. 2022IDD-3D: Indian Driving Dataset for 3D Unstructured Road Scenescited by 11
  33. 2022FisheyeHDK: Hyperbolic Deformable Kernel Learning for Ultra-Wide Field-of-View Image Recognitioncited by 10
  34. 2023DarSwin: Distortion Aware Radial Swin Transformercited by 10
  35. 2024PolyOculus: Simultaneous Multi-view Image-based Novel View Synthesiscited by 10
  36. 2024UniGaussian: Driving Scene Reconstruction from Multiple Camera Models via Unified Gaussian Representationscited by 10
  37. 2021An Online Learning System for Wireless Charging Alignment using Surround-view Fisheye Camerascited by 9
  38. 2021Physics-informed Guided Disentanglement in Generative Networkscited by 9

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