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

arXiv: https://arxiv.org/abs/1905.01489 · HTML: https://mlsanity.com/paper/1905.01489/

## Key facts

- Cited by 144 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 4 May 2019.

## Built on by (most cited first, 30 of 144)

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- [V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Driving](https://mlsanity.com/paper/2202.08449/) (2022)
- [3D Object Detection for Autonomous Driving: A Comprehensive Survey](https://mlsanity.com/paper/2206.09474/) (2022)
- [Pano-AVQA: Grounded Audio-Visual Question Answering on 360^circ Videos](https://mlsanity.com/paper/2110.05122/) (2021)
- [Multi-modal Sensor Fusion for Auto Driving Perception: A Survey](https://mlsanity.com/paper/2202.02703/) (2022)
- [Bending Reality: Distortion-aware Transformers for Adapting to Panoramic Semantic Segmentation](https://mlsanity.com/paper/2203.01452/) (2022)
- [Waymo Open Dataset: Panoramic Video Panoptic Segmentation](https://mlsanity.com/paper/2206.07704/) (2022)
- [OmniDet: Surround View Cameras based Multi-task Visual Perception Network for Autonomous Driving](https://mlsanity.com/paper/2102.07448/) (2021)
- [Active Learning for Domain Adaptation: An Energy-Based Approach](https://mlsanity.com/paper/2112.01406/) (2021)
- [Capturing Omni-Range Context for Omnidirectional Segmentation](https://mlsanity.com/paper/2103.05687/) (2021)
- [Behind Every Domain There is a Shift: Adapting Distortion-aware Vision Transformers for Panoramic Semantic Segmentation](https://mlsanity.com/paper/2207.11860/) (2022)
- [Review on Panoramic Imaging and Its Applications in Scene Understanding](https://mlsanity.com/paper/2205.05570/) (2022)
- [DICEPTION: A Generalist Diffusion Model for Visual Perceptual Tasks](https://mlsanity.com/paper/2502.17157/) (2025)
- [Surround-view Fisheye Camera Perception for Automated Driving: Overview, Survey and Challenges](https://mlsanity.com/paper/2205.13281/) (2022)
- [OmniNWM: Omniscient Driving Navigation World Models](https://mlsanity.com/paper/2510.18313/) (2025)
- [SynWoodScape: Synthetic Surround-view Fisheye Camera Dataset for Autonomous Driving](https://mlsanity.com/paper/2203.05056/) (2022)
- [The Oxford Spires Dataset: Benchmarking Large-Scale LiDAR-Visual Localisation, Reconstruction and Radiance Field Methods](https://mlsanity.com/paper/2411.10546/) (2024)
- [PanoFlow: Learning 360deg Optical Flow for Surrounding Temporal Understanding](https://mlsanity.com/paper/2202.13388/) (2022)
- [SVDistNet: Self-Supervised Near-Field Distance Estimation on Surround View Fisheye Cameras](https://mlsanity.com/paper/2104.04420/) (2021)
- [Near-field Perception for Low-Speed Vehicle Automation using Surround-view Fisheye Cameras](https://mlsanity.com/paper/2103.17001/) (2021)
- [What a MESS: Multi-Domain Evaluation of Zero-Shot Semantic Segmentation](https://mlsanity.com/paper/2306.15521/) (2023)
- [Forging Vision Foundation Models for Autonomous Driving: Challenges, Methodologies, and Opportunities](https://mlsanity.com/paper/2401.08045/) (2024)
- [Open-sourced Data Ecosystem in Autonomous Driving: the Present and Future](https://mlsanity.com/paper/2312.03408/) (2023)
- [SELMA: SEmantic Large-scale Multimodal Acquisitions in Variable Weather, Daytime and Viewpoints](https://mlsanity.com/paper/2204.09788/) (2022)
- [FishEye8K: A Benchmark and Dataset for Fisheye Camera Object Detection](https://mlsanity.com/paper/2305.17449/) (2023)
- [Deep Learning for Camera Calibration and Beyond: A Survey](https://mlsanity.com/paper/2303.10559/) (2023)
- [HEAL-SWIN: A Vision Transformer On The Sphere](https://mlsanity.com/paper/2307.07313/) (2023)
- [AnyCalib: On-Manifold Learning for Model-Agnostic Single-View Camera Calibration](https://mlsanity.com/paper/2503.12701/) (2025)

## 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.