I was able to stop the black surface being left behind after transition by placing another view with a transparent background on top of the ViewPager inside a FrameLayout:
<FrameLayout
android:layout_width="match_parent"
android:layout_height="match_parent" >
<android.support.v4.view.ViewPager
android:id="@+id/fragment_container"
android:layout_width="match_parent"
android:layout_height="match_parent" >
</android.support.v4.view.ViewPager>
<!-- hack to fix ugly black artefact with maps v2 -->
<FrameLayout
android:layout_width="match_parent"
android:layout_height="match_parent"
android:background="@android:color/transparent" />
</FrameLayout>