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BDD100K

Introduced by Fisher Yu et al. in BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning8 Apr 2020 archive 2025-07-28

Datasets drive vision progress, yet existing driving datasets are impoverished in terms of visual content and supported tasks to study multitask learning for autonomous driving. Researchers are usually constrained to study a small set of problems on one dataset, while real-world computer vision applications require performing tasks of various complexities. We construct BDD100K, the largest driving video dataset with 100K videos and 10 tasks to evaluate the exciting progress of image recognition algorithms on autonomous driving. The dataset possesses geographic, environmental, and weather diversity, which is useful for training models that are less likely to be surprised by new conditions. Based on this diverse dataset, we build a benchmark for heterogeneous multitask learning and study how to solve the tasks together. Our experiments show that special training strategies are needed for existing models to perform such heterogeneous tasks. BDD100K opens the door for future studies in this important venue. More detail is at the dataset home page.

HomepageBenchmarksPapers JSON

Benchmarks archive 2025-07-28

All 16 leaderboards whose dataset resolves to this page shown (sort by any header). "First row" is the archive's own first row at snapshot, in the archive's row order; nothing here re-ranks and metric direction is not asserted.

First row (archive order)PaperCode
Semantic Segmentation BDD100K val VLTSeg mIoU 72.5 Strong but simple: A Baseline for Domain Generalized... VLTSeg/VLTSeg 24 Compare
Lane Detection BDD100K val TwinLiteNetPlus-Large IoU (%) 34.2 TwinLiteNetPlus: A Stronger Model for Real-time Drivable... chequanghuy/TwinLiteNet +1 11 Compare
Drivable Area Detection BDD100K val YOLOPv2 mIoU 93.2 YOLOPv2: Better, Faster, Stronger for Panoptic Driving Perception PINTO0309/PINTO_model_zoo +1 10 Compare
Multiple Object Tracking BDD100K val ByteTrack mMOTA 45.5 ByteTrack: Multi-Object Tracking by Associating Every... PaddlePaddle/PaddleDetection +9 9 Compare
Multi-Object Tracking and Segmentation BDD100K val UNINEXT-H mMOTSA 35.7 Universal Instance Perception as Object Discovery and Retrieval MasterBin-IIAU/UNINEXT 8 Compare
Video Instance Segmentation BDD100K val PCAN mMOTSA 27.4 Prototypical Cross-Attention Networks for Multiple... SysCV/pcan 6 Compare
Multiple Object Tracking BDD100K test ContrasTR mMOTA 42.8 Contrastive Learning for Multi-Object Tracking with Transformers pfdp0/ContrasTR 5 Compare
Instance Segmentation BDD100K val Mask Transfiner AP 23.6 Mask Transfiner for High-Quality Instance Segmentation SysCV/transfiner 4 Compare
Unsupervised Panoptic Segmentation BDD100K val CUPS (40 pseudo-classes) PQ 21.9 Scene-Centric Unsupervised Panoptic Segmentation visinf/cups 4 Compare
2D Object Detection BDD100K val InternImage-H mAP 38.8 InternImage: Exploring Large-Scale Vision Foundation... opengvlab/internimage +2 1 Compare
Amodal Panoptic Segmentation BDD100K val APSNet AP 29.2 Amodal Panoptic Segmentation — 1 Compare
Multi-Object Tracking BDD100K CO-MOT TETA 52.8 Bridging the Gap Between End-to-end and Non-End-to-end... bingfengyan/visam +1 1 Compare
Multiple Object Track and Segmentation BDD100K val PCAN mMOTSA 27.4 Prototypical Cross-Attention Networks for Multiple... SysCV/pcan 1 Compare
Object Detection BDD100K CDDMSL MAP 27.1 Semi-Supervised Domain Generalization for Object... sinamalakouti/CDDMSL 1 Compare
Object Detection BDD100K val hybrid incremental net mAP@0.5 45.7 On Generalizing Detection Models for Unconstrained Environments prajjwal1/autonomous-object-detection 1 Compare
Steering Control BDD100K val FM-Net Accuracy 85.03 Learning to Steer by Mimicking Features from... cardwing/Codes-for-Steering-Control +1 1 Compare

Papers archive 2025-07-28

30 shown of 49 papers with a leaderboard row on this dataset's benchmarks, newest first. The archive's own "papers using this dataset" list was never published, so this is the benchmark-backed subset; the archive's count for this dataset is 469. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.

DateSamples run Syntology
Scene-Centric Unsupervised Panoptic Segmentation 1 3 2 Apr 2025 ran 0 of 8 samples (8 unverified)
TriLiteNet: Lightweight Model for Multi-Task Visual Perception 1 2 17 Mar 2025 not harvested
DSNet: A Novel Way to Use Atrous Convolutions in Semantic Segmentation 1 2 6 Jun 2024 not harvested
TwinLiteNetPlus: A Stronger Model for Real-time Drivable Area and Lane Segmentation 2 8 25 Mar 2024 not harvested
SERNet-Former: Semantic Segmentation by Efficient Residual Network with Attention-Boosting Gates and Attention-Fusion Networks 2 1 28 Jan 2024 not harvested
Unsupervised Universal Image Segmentation 2 1 28 Dec 2023 ran 13 of 15 samples (2 unverified)
Strong but simple: A Baseline for Domain Generalized Dense Perception by CLIP-based Transfer Learning 1 1 4 Dec 2023 not harvested
MRFP: Learning Generalizable Semantic Segmentation from Sim-2-Real with Multi-Resolution Feature Perturbation 1 2 30 Nov 2023 not harvested
Contrastive Learning for Multi-Object Tracking with Transformers 1 2 14 Nov 2023 not harvested
You Only Look at Once for Real-time and Generic Multi-Task 1 2 2 Oct 2023 not harvested
Semi-Supervised Domain Generalization for Object Detection via Language-Guided Feature Alignment 1 1 24 Sep 2023 not harvested
TwinLiteNet: An Efficient and Lightweight Model for Driveable Area and Lane Segmentation in Self-Driving Cars 1 2 20 Jul 2023 not harvested
Bridging the Gap Between End-to-end and Non-End-to-end Multi-Object Tracking 2 1 22 May 2023 not harvested
Universal Instance Perception as Object Discovery and Retrieval 1 2 12 Mar 2023 ran 3 of 4 samples (1 unverified)
Unifying Short and Long-Term Tracking with Graph Hierarchies 1 1 6 Dec 2022 ran 0 of 11 samples (11 unverified)
MOTRv2: Bootstrapping End-to-End Multi-Object Tracking by Pretrained Object Detectors 4 1 17 Nov 2022 not harvested
InternImage: Exploring Large-Scale Vision Foundation Models with Deformable Convolutions 3 1 10 Nov 2022 ran 2 of 4 samples (2 unverified)
QDTrack: Quasi-Dense Similarity Learning for Appearance-Only Multiple Object Tracking 2 2 12 Oct 2022 ran 0 of 4 samples (4 unverified)
YOLOPv2: Better, Faster, Stronger for Panoptic Driving Perception 2 2 24 Aug 2022 not harvested
Tackling multiple object tracking with complicated motions—Re-designing the integration of motion and appearance 0 1 22 Aug 2022 not harvested
Tracking Every Thing in the Wild 1 1 26 Jul 2022 not harvested
Towards Grand Unification of Object Tracking 1 2 14 Jul 2022 ran 6 of 6 samples (0 unverified; 1 pointer-only for licence)
SFNet: Faster, Accurate, and Domain Agnostic Semantic Segmentation via Semantic Flow 1 2 10 Jul 2022 not harvested
HybridNets: End-to-End Perception Network 3 2 17 Mar 2022 not harvested
Amodal Panoptic Segmentation 0 1 23 Feb 2022 not harvested
Mask Transfiner for High-Quality Instance Segmentation 1 1 26 Nov 2021 ran 1 of 1 samples (0 unverified)
ByteTrack: Multi-Object Tracking by Associating Every Detection Box 10 2 13 Oct 2021 ran 1 of 12 samples (11 unverified)
YOLOP: You Only Look Once for Panoptic Driving Perception 5 2 25 Aug 2021 ran 1 of 18 samples (17 unverified)
Prototypical Cross-Attention Networks for Multiple Object Tracking and Segmentation 1 13 22 Jun 2021 ran 0 of 5 samples (5 unverified)
Fast and Accurate Scene Parsing via Bi-direction Alignment Networks 1 1 25 May 2021 not harvested

The full list of 49 is in the JSON twin.

Dataset loaders archive 2025-07-28

docs.voxel51.com/user_guide/dataset_zoo/datasets.html#bdd100kvoxel51/fiftyonetfpytorch
takaniwa/DSNettakaniwa/dsnetpytorch
gas.graviti.com/dataset/hellodataset/BDD100KGraviti-AI/datasets

3 loaders as listed in the archive; links are outbound and not re-checked here.

Tasks archive 2025-07-28

Image Classification2D Object DetectionObject DetectionSemantic SegmentationDomain AdaptationInstance SegmentationPanoptic SegmentationMulti-Object TrackingLane DetectionMultiple Object TrackingVideo Instance SegmentationUnsupervised Panoptic SegmentationVideo SegmentationSemi-Supervised Instance SegmentationSteering ControlMulti-Object Tracking and SegmentationDrivable Area DetectionMultiple Object Track and SegmentationTraffic Object DetectionAmodal Panoptic Segmentation

License archive 2025-07-28

Mixed License

Modalities archive 2025-07-28

Videos

Languages archive 2025-07-28

No language tagged.

Variants archive 2025-07-28

  • BDD100K
  • BDD100K val
  • BDD100K test
  • BDD100K-APS

4 variant names, as the archive lists them.

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