mlsanityData to 7 Oct 2026

SynWoodScape: Synthetic Surround-view Fisheye Camera Dataset for Autonomous Driving

arXiv 2203.05056 ↗First posted 9 Mar 2022cs.CVcited by 32

Not on the map. Why?

Abstract (arXiv)

Surround-view cameras are a primary sensor for automated driving, used for near-field perception. It is one of the most commonly used sensors in commercial vehicles primarily used for parking visualization and automated parking. Four fisheye cameras with a 190deg field of view cover the 360deg around the vehicle. Due to its high radial distortion, the standard algorithms do not extend easily. Previously, we released the first public fisheye surround-view dataset named WoodScape. In this work, we release a synthetic version of the surround-view dataset, covering many of its weaknesses and extending it. Firstly, it is not possible to obtain ground truth for pixel-wise optical flow and depth. Secondly, WoodScape did not have all four cameras annotated simultaneously in order to sample diverse frames. However, this means that multi-camera algorithms cannot be designed to obtain a unified output in birds-eye space, which is enabled in the new dataset. We implemented surround-view fisheye geometric projections in CARLA Simulator matching WoodScape's configuration and created SynWoodScape. We release 80k images from the synthetic dataset with annotations for 10+ tasks. We also release the baseline code and supporting scripts.

Key facts. Cited by 32 papers in the map (data through 7 Oct 2026). Builds on 22 of its 46 references that are in the map. First posted on arXiv 9 Mar 2022.

Builds on

22 of 46 references.

References · 22

  1. 2017CARLA: An Open Urban Driving Simulatorcited by 2,431
  2. 2021KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3Dcited by 570
  3. 2016Driving in the Matrix: Can Virtual Worlds Replace Human-Generated Annotations for Real World Tasks?cited by 194
  4. 2018The ApolloScape Open Dataset for Autonomous Driving and its Applicationcited by 188
  5. 2017Playing for Benchmarkscited by 169
  6. 2019WoodScape: A multi-task, multi-camera fisheye dataset for autonomous drivingcited by 142
  7. 2021OmniDet: Surround View Cameras based Multi-task Visual Perception Network for Autonomous Drivingcited by 57
  8. 2020SynDistNet: Self-Supervised Monocular Fisheye Camera Distance Estimation Synergized with Semantic Segmentation for Autonomous Drivingcited by 48
  9. 2020Generalized Object Detection on Fisheye Cameras for Autonomous Driving: Dataset, Representations and Baselinecited by 41
  10. 2019FisheyeDistanceNet: Self-Supervised Scale-Aware Distance Estimation using Monocular Fisheye Camera for Autonomous Drivingcited by 36
  11. 2021Inspect, Understand, Overcome: A Survey of Practical Methods for AI Safetycited by 35
  12. 2020UnRectDepthNet: Self-Supervised Monocular Depth Estimation using a Generic Framework for Handling Common Camera Distortion Modelscited by 33
10 more
  1. 2021SVDistNet: Self-Supervised Near-Field Distance Estimation on Surround View Fisheye Camerascited by 25
  2. 2021Near-field Perception for Low-Speed Vehicle Automation using Surround-view Fisheye Camerascited by 24
  3. 2021Weather and Light Level Classification for Autonomous Driving: Dataset, Baseline and Active Learningcited by 20
  4. 2018Monocular Fisheye Camera Depth Estimation Using Sparse LiDAR Supervisioncited by 19
  5. 2019FisheyeMODNet: Moving Object detection on Surround-view Cameras for Autonomous Drivingcited by 18
  6. 2020TiledSoilingNet: Tile-level Soiling Detection on Automotive Surround-view Cameras Using Coverage Metriccited by 17
  7. 2021Adversarial Attacks on Multi-task Visual Perception for Autonomous Drivingcited by 14
  8. 2021An Online Learning System for Wireless Charging Alignment using Surround-view Fisheye Camerascited by 9
  9. 2021A Hybrid Sparse-Dense Monocular SLAM System for Autonomous Drivingcited by 8
  10. 2019Capsule Neural Network based Height Classification using Low-Cost Automotive Ultrasonic Sensorscited by 5

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 7; 2023: 9; 2024: 7; 2025: 6; 2026: 3.

32 papers.

Sort:

By area:

  1. 2023Delivering Arbitrary-Modal Semantic Segmentationcited by 115
  2. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  3. 2022Behind Every Domain There is a Shift: Adapting Distortion-aware Vision Transformers for Panoramic Semantic Segmentationcited by 46
  4. 2022Surround-view Fisheye Camera Perception for Automated Driving: Overview, Survey and Challengescited by 33
  5. 2022SELMA: SEmantic Large-scale Multimodal Acquisitions in Variable Weather, Daytime and Viewpointscited by 22
  6. 2023HEAL-SWIN: A Vision Transformer On The Spherecited by 18
  7. 2023AmodalSynthDrive: A Synthetic Amodal Perception Dataset for Autonomous Drivingcited by 13
  8. 2023F2BEV: Bird's Eye View Generation from Surround-View Fisheye Camera Images for Automated Drivingcited by 12
  9. 2023Optical Flow for Autonomous Driving: Applications, Challenges and Improvementscited by 9
  10. 20253DGEER: 3D Gaussian Rendering Made Exact and Efficient for Generic Camerascited by 8
  11. 2024Deformable Mamba for Wide Field of View Segmentationcited by 7
  12. 2025Dur360BEV: A Real-world 360-degree Single Camera Dataset and Benchmark for Bird-Eye View Mapping in Autonomous Drivingcited by 5
20 more
  1. 2023ADD: An Automatic Desensitization Fisheye Dataset for Autonomous Drivingcited by 4
  2. 2022IBISCape: A Simulated Benchmark for multi-modal SLAM Systems Evaluation in Large-scale Dynamic Environmentscited by 3
  3. 2023Applications of Deep Learning for Top-View Omnidirectional Imaging: A Surveycited by 3
  4. 2024Surround-View Fisheye Optics in Computer Vision and Simulation: Survey and Challengescited by 3
  5. 2025RealDriveSim: A Realistic Multi-Modal Multi-Task Synthetic Dataset for Autonomous Drivingcited by 3
  6. 2025FishBEV: Distortion-Resilient Bird's Eye View Segmentation with Surround-View Fisheye Camerascited by 3
  7. 2026Rethinking Camera Choice: An Empirical Study on Fisheye Camera Properties in Robotic Manipulationcited by 3
  8. 2022Surround-View Cameras based Holistic Visual Perception for Automated Drivingcited by 2
  9. 2022Woodscape Fisheye Object Detection for Autonomous Driving -- CVPR 2022 OmniCV Workshop Challengecited by 2
  10. 2023Sector Patch Embedding: An Embedding Module Conforming to The Distortion Pattern of Fisheye Imagecited by 2
  11. 2024DaF-BEVSeg: Distortion-aware Fisheye Camera based Bird's Eye View Segmentation with Occlusion Reasoningcited by 2
  12. 2025FlyAwareV2: A Multimodal Cross-Domain UAV Dataset for Urban Scene Understandingcited by 2
  13. 2026Benchmarking Multi-View BEV Object Detection with Mixed Pinhole and Fisheye Camerascited by 2
  14. 2022SpikiLi: A Spiking Simulation of LiDAR based Real-time Object Detection for Autonomous Drivingcited by 1
  15. 2024Measuring Natural Scenes SFR of Automotive Fisheye Camerascited by 1
  16. 2024Deformable Convolution Based Road Scene Semantic Segmentation of Fisheye Images in Autonomous Drivingcited by 1
  17. 2025Training for X-Ray Vision: Amodal Segmentation, Amodal Content Completion, and View-Invariant Object Representation from Multi-Camera Videocited by 1
  18. 2026WideDepth: Millimeter-Accurate Benchmark for Fisheye Depth Estimationcited by 1
  19. 2023WoodScape Motion Segmentation for Autonomous Driving -- CVPR 2023 OmniCV Workshop Challengecited by 0
  20. 2024Neural Rendering based Urban Scene Reconstruction for Autonomous Drivingcited by 0