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

E, W.; Yuan, C.; Sun, Y.; Gaus, Y.F.A.; Atapour-Abarghouei, A.; Breckon, T.P.

Abstract

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.

Citation

E, W., Yuan, C., Sun, Y., Gaus, Y., Atapour-Abarghouei, A., & Breckon, T. (2025, May). Dur360BEV: A Real-world 360-degree Single Camera Dataset and Benchmark for Bird-Eye View Mapping in Autonomous Driving. Presented at IEEE International Conference on Robotics and Automation (ICRA), Atlanta, USA

• Presentation Conference Type: Conference Paper (published)
• Conference Name: IEEE International Conference on Robotics and Automation (ICRA)
• Start Date: May 19, 2025
• End Date: May 23, 2025
• Acceptance Date: Jan 29, 2025
• Deposit Date: Mar 9, 2025
• Publicly Available Date: Mar 12, 2025
• Publisher: IEEE Canada
• Peer Reviewed: Peer Reviewed
• Book Title: Proceedings of the International Conference on Robotics and Automation 2025
• Keywords: autonomous driving, BEV, spherical camera, 360 degree camera, single camera BEV, surround view, vehicle perception
• Public URL: https://durham-repository.worktribe.com/output/3704622
• Publisher URL: https://ieeexplore.ieee.org/xpl/conhome/1000639/all-proceedings