Understanding Cross-Rig Generalization in Automotive Perception: a Multi-Rig Benchmark and Rig Variation Metrics
Camera-based perception systems for autonomous driving are typically developed and evaluated using fixed sensor rigs, while real-world vehicle fleets exhibit substantial variation in camera placement, orientation, field of view, and camera count. This mismatch introduces a cross-rig domain gap in which only the geometric observation process changes. To study this effect under controlled conditions, we introduce Plentiful CARLA Camera Rigs, a benchmark that renders identical driving scenes under 14 systematically designed camera rigs. This setup enables direct analysis of cross-rig generalization without confounding changes in scene content or appearance. Using the benchmark, we analyze cr...
| Authors | Tim Alexander Bader, Tim Dieter Eberhardt, Maximilian Dillitzer et al. |
|---|---|
| Primary category | cs.CV |
| Published | 25 June 2026 |
| Last updated at source | 25 June 2026 |
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