Understanding Cross-Rig Generalization in Automotive Perception: a Multi-Rig Benchmark and Rig Variation Metrics

arXiv:2606.27554v1 Announce Type: new Abstract: 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 benchm...