PanoPed: Beyond Bounding Boxes for Sim-to-Real Panoramic Pedestrian Tracking
Full-sphere panoramic cameras let fixed monitoring systems and mobile robots track people in every direction, but a planar bounding box does not fully describe where a person is on the sphere. We introduce PanoPed, a sim-to-real benchmark for pedestrian tracking on the full sphere. PanoPed-S contains 108,000 frames from fixed, quadruped-mounted, and drone-mounted cameras, with synchronized masks, depth, camera poses, and 3D pedestrian states. PanoPed-R adds 28,002 real frames from fixed cameras, 16,247 of them densely annotated. We find that an ERP rectangle cannot uniquely determine the spherical center and angular extent of the visible person, while the detector's visual query still car...
| Authors | Qinfeng Zhu, Weiguang Zhao, Yunxi Jiang et al. |
|---|---|
| Primary category | cs.CV |
| Published | 25 September 2026 |
| Last updated at source | 25 September 2026 |
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