mlsanityData to 14 Oct 2026

Dur360BEV: A Real-world 360-degree Single Camera Dataset and Benchmark for Bird-Eye View Mapping in Autonomous Driving

arXiv 2503.00675 ↗First posted 2 Mar 2025cs.CV cs.ROcited by 5

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Abstract (arXiv)

We present Dur360BEV, a novel spherical camera autonomous driving dataset equipped with a high-resolution 128-channel 3D LiDAR and a RTK-refined GNSS/INS system, along with a benchmark architecture designed to generate Bird-Eye-View (BEV) maps using only a single spherical camera. This dataset and benchmark address the challenges of BEV generation in autonomous driving, particularly by reducing hardware complexity through the use of a single 360-degree camera instead of multiple perspective cameras. Within our benchmark architecture, we propose a novel spherical-image-to-BEV module that leverages spherical imagery and a refined sampling strategy to project features from 2D to 3D. Our approach also includes an innovative application of focal loss, specifically adapted to address the extreme class imbalance often encountered in BEV segmentation tasks, that demonstrates improved segmentation performance on the Dur360BEV dataset. The results show that our benchmark not only simplifies the sensor setup but also achieves competitive performance.

Key facts. Cited by 5 papers in the map (data through 14 Oct 2026). Builds on 32 of its 45 references that are in the map. First posted on arXiv 2 Mar 2025.

Builds on

32 of 45 references.

References · 32

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2019EfficientNet: Rethinking Model Scaling for Convolutional Neural Networkscited by 6,442
  3. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
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  6. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,218
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  10. 2016Playing for Data: Ground Truth from Computer Gamescited by 818
  11. 2021KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3Dcited by 575
  12. 2021Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Datasetcited by 537
20 more
  1. 2017AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehiclescited by 523
  2. 2022BEVFusion: A Simple and Robust LiDAR-Camera Fusion Frameworkcited by 336
  3. 2022BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervisioncited by 302
  4. 2018Training Deep Networks with Synthetic Data: Bridging the Reality Gap by Domain Randomizationcited by 294
  5. 2016FCNs in the Wild: Pixel-level Adversarial and Constraint-based Adaptationcited by 243
  6. 2021End-to-end Interpretable Neural Motion Plannercited by 242
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  8. 2021FIERY: Future Instance Prediction in Bird's-Eye View from Surround Monocular Camerascited by 239
  9. 2019WoodScape: A multi-task, multi-camera fisheye dataset for autonomous drivingcited by 144
  10. 2022Simple-BEV: What Really Matters for Multi-Sensor BEV Perception?cited by 128
  11. 2020MotionNet: Joint Perception and Motion Prediction for Autonomous Driving Based on Bird's Eye View Mapscited by 100
  12. 2021360MonoDepth: High-Resolution 360deg Monocular Depth Estimationcited by 60
  13. 2022SynWoodScape: Synthetic Surround-view Fisheye Camera Dataset for Autonomous Drivingcited by 32
  14. 2024SIMPL: A Simple and Efficient Multi-agent Motion Prediction Baseline for Autonomous Drivingcited by 27
  15. 2019Learning to Calibrate Straight Lines for Fisheye Image Rectificationcited by 23
  16. 2023PointBeV: A Sparse Approach to BeV Predictionscited by 23
  17. 2022360 Depth Estimation in the Wild -- The Depth360 Dataset and the SegFuse Networkcited by 15
  18. 20203D Object Detection from a Single Fisheye Image Without a Single Fisheye Training Imagecited by 13
  19. 2023F2BEV: Bird's Eye View Generation from Surround-View Fisheye Camera Images for Automated Drivingcited by 12
  20. 2024DurLAR: A High-fidelity 128-channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-modal Autonomous Driving Applicationscited by 8

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 1; 2026: 4.

5 papers.

  1. 2026Panoramic Multimodal Semantic Occupancy Prediction for Quadruped Robotscited by 5
  2. 2026O3N: Omnidirectional Open-Vocabulary Occupancy Prediction for Embodied Intelligent Roboticscited by 2
  3. 2025Geometry-to-Image Synthesis-Driven Generative Point Cloud Registrationcited by 0
  4. 2026Stitch4D: Sparse Multi-Location 4D Urban Reconstruction via Spatio-Temporal Interpolationcited by 0
  5. 2026Geometry-Aware Fisheye-LiDAR Fusion for Robust 3D Object Detection in Low-Overlap Setupscited by 0