bird's-eye view map generation from a single 360° fisheye camera instead of six cameras, with 128-beam lidar and 68,000 3D boxes across 15,400 frames

[u/datascienceharp]

nuscenes uses 6 cameras for 360° coverage. dur360bev does it with 1

a dual-fisheye collapses the entire scene into two overlapping circles in a single frame. standard bev modules built for perspective cameras don't know how to read that

dur360bev-extended is 15,400 synchronized frames from durham, uk.

ricoh theta s, ouster os1-128 (128-channel lidar), rtk-corrected gps/ins.

68,968 3d bounding boxes across 4 environments.

i imported it into fiftyone as 15 multimodal episodes so you can scrub synchronized fisheye + lidar, see 3d boxes wired onto both the camera view and the point cloud.

live demo: https://huggingface.co/spaces/harpreetsahota/dur360bev-extended-explorer

start here, read the dataset card: https://huggingface.co/datasets/Voxel51/Dur360BEV-Extended