Radar is usually more robust than the camera in severe driving scenarios, e.g., weak/strong lighting and bad weather. However, unlike RGB images captured by a camera, the semantic information from the radar signals is noticeably difficult to extract. In this paper, we propose a deep radar object detection network (RODNet), to effectively detect objects purely from the carefully processed radar frequency data in the format of range-azimuth frequency heatmaps (RAMaps). Three different 3D autoencoder based architectures are introduced to predict object confidence distribution from each snippet of the input RAMaps. The final detection results are then calculated using our post-processing method, called location-based non-maximum suppression (L-NMS). Instead of using burdensome human-labeled ground truth, we train the RODNet using the annotations generated automatically by a novel 3D localization method using a camera-radar fusion (CRF) strategy. To train and evaluate our method, we build a new dataset -- CRUW, containing synchronized videos and RAMaps in various driving scenarios. After intensive experiments, our RODNet shows favorable object detection performance without the presence of the camera.
University of Washington（华盛顿大学）；Silkwave Holdings Limited（Silkwave控股有限公司）
Various autonomous or assisted driving strategies have been facilitated through the accurate and reliable perception of the environment around a vehicle. Among the commonly used sensors, radar has usually been considered as a robust and cost-effective solution even in adverse driving scenarios, e.g., weak/strong lighting or bad weather. Instead of considering to fuse the unreliable information from all available sensors, perception from pure radar data becomes a valuable alternative that is worth exploring. In this paper, we propose a deep radar object detection network, named RODNet, which is…
LXLv2: Enhanced LiDAR Excluded Lean 3D Object Detection with Fusion of 4D Radar and Camera
School of Automation Science and Electrical Engineering, Beihang University（北京航空航天大学自动化科学与电气工程学院）；Continental Autonomous Mobility (Shanghai) Co., Ltd（大陆汽车自动驾驶（上海）有限公司）
Wave2Body: Rethinking mmWave Human Pose Estimation as Radar-to-Body Token Translation
School of Computer Science, Peking University（北京大学计算机科学学院）；University of Pittsburgh（匹兹堡大学）；Key Laboratory of High Confidence Software Technologies, Ministry of Education (PKU)（教育部高可信软件技术重点实验室（北京大学））
Qualcomm Technologies, Inc.（高通技术公司）；Qualcomm AI Research（高通人工智能研究院）；QT Technologies Ireland Limited（QT科技爱尔兰有限公司）
Recent advances in 3D object detection (3DOD) have obtained remarkably strong results for LiDAR-based models. In contrast, surround-view 3DOD models based on multiple camera images underperform due to the necessary view transformation of features from perspective view (PV) to a 3D world representation which is ambiguous due to missing depth information. This paper introduces X$^3$KD, a comprehensive knowledge distillation framework across different modalities, tasks, and stages for multi-camera 3DOD. Specifically, we propose cross-task distillation from an instance segmentation teacher (X-IS) …
We present an approach to automatically generate semantic labels for real recordings of automotive range-Doppler (RD) radar spectra. Such labels are required when training a neural network for object recognition from radar data. The automatic labeling approach rests on the simultaneous recording of camera and lidar data in addition to the radar spectrum. By warping radar spectra into the camera image, state-of-the-art object recognition algorithms can be applied to label relevant objects, such as cars, in the camera image. The warping operation is designed to be fully differentiable, which all…
Recently, several works have proposed fusing radar data as an additional perceptual signal into monocular depth estimation models because radar data is robust against varying light and weather conditions. Although improved performances were reported in prior works, it is still hard to tell how much depth information radar can contribute to a depth estimation model. In this paper, we propose radar inference and supervision experiments to investigate the intrinsic depth potential of radar data using state-of-the-art depth estimation models on the nuScenes dataset. In the inference experiment, th…
CORENet: Cross-Modal 4D Radar Denoising Network with LiDAR Supervision for Autonomous Driving
Institute of Computing Technology, Chinese Academy of Sciences（中国科学院计算技术研究所）；University of Chinese Academy of Sciences（中国科学院大学）；Beijing Institute of Control Engineering（北京控制工程研究所）
VISC: mmWave Radar Scene Flow Estimation using Pervasive Visual-Inertial Supervision
State Key Laboratory of Maritime Technology and Safety（maritime技术与安全国家重点实验室）；Wuhan University of Technology（武汉理工大学）；University of Essex（埃塞克斯大学）；Carnegie Mellon University（卡内基梅隆大学）；Tsinghua University（清华大学）；University College London（伦敦大学学院）
University of Oxford（牛津大学）；Aalborg University（奥尔堡大学）
Reliable outdoor deployment of mobile robots requires the robust identification of permissible driving routes in a given environment. The performance of LiDAR and vision-based perception systems deteriorates significantly if certain environmental factors are present e.g. rain, fog, darkness. Perception systems based on FMCW scanning radar maintain full performance regardless of environmental conditions and with a longer range than alternative sensors. Learning to segment a radar scan based on driveability in a fully supervised manner is not feasible as labelling each radar scan on a bin-by-bin…
University of Edinburgh（爱丁堡大学）；Delft University of Technology（代尔夫特理工大学）
This work proposes a novel approach to 4D radar-based scene flow estimation via cross-modal learning. Our approach is motivated by the co-located sensing redundancy in modern autonomous vehicles. Such redundancy implicitly provides various forms of supervision cues to the radar scene flow estimation. Specifically, we introduce a multi-task model architecture for the identified cross-modal learning problem and propose loss functions to opportunistically engage scene flow estimation using multiple cross-modal constraints for effective model training. Extensive experiments show the state-of-the-a…
RaCalNet: Radar Calibration Network for Sparse-Supervised Metric Depth Estimation
School of Automation and Intelligent Sensing, Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China（上海交通大学自动化与智能感知学院，医学机器人研究所）；School of Mathematical Sciences, Shanghai Jiao Tong University, Shanghai, China（上海交通大学数学科学学院）；South China University of Technology, Guangzhou, China（华南理工大学）；State Grid Intelligence Technology CO., LTD（国家电网智能技术有限公司）
Weakly Supervised Cross-Modal Learning for 4D Radar Scene Flow Estimation
Zhejiang University, Hangzhou, Zhejiang, China（浙江大学）；Zhejiang Provincial Key Laboratory of Multi-Modal Communication Networks and Intelligent Information Processing（浙江省多模态通信网络与智能信息处理重点实验室）；Singapore University of Technology and Design（新加坡科技设计大学）
4DRadar-GS: Self-Supervised Dynamic Driving Scene Reconstruction with 4D Radar
School of Automotive Studies, Tongji University（同济大学汽车学院）；State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所多模态人工智能系统国家重点实验室）
Segment Any Motion with Radar: Robust Multimodal Moving-Object Segmentation and Tracking
Harbin Institute of Technology, Shenzhen（哈尔滨工业大学（深圳））；Great Bay University, Dongguan（大湾区大学（东莞））；Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院）
MetaOcc: Spatio-Temporal Fusion of Surround-View 4D Radar and Camera for 3D Occupancy Prediction with Dual Training Strategies
School of Automotive Studies, Tongji University（同济大学汽车学院）；College of Computer Science and Technology, Zhejiang University（浙江大学计算机科学与技术学院）；School of Automobile, Chang'an University（长安大学汽车学院）；School of Information and Electrical Engineering, Hangzhou City University（杭州城市学院信息与电气工程学院）；College of Science and Engineering, James Cook University（詹姆斯库克大学科学与工程学院）
The increasing intensity and frequency of floods is one of the many consequences of our changing climate. In this work, we explore ML techniques that improve the flood detection module of an operational early flood warning system. Our method exploits an unlabelled dataset of paired multi-spectral and Synthetic Aperture Radar (SAR) imagery to reduce the labeling requirements of a purely supervised learning method. Prior works have used unlabelled data by creating weak labels out of them. However, from our experiments we noticed that such a model still ends up learning the label mistakes in thos…
Deep-learning-based local feature extraction algorithms that combine detection and description have made significant progress in visible image matching. However, the end-to-end training of such frameworks is notoriously unstable due to the lack of strong supervision of detection and the inappropriate coupling between detection and description. The problem is magnified in cross-modal scenarios, in which most methods heavily rely on the pre-training. In this paper, we recouple independent constraints of detection and description of multimodal feature learning with a mutual weighting strategy, in…
Exploring Syn-to-Real Domain Adaptation for Military Target Detection
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST)（韩国科学技术院机械工程系）；Drone Research and Development Laboratory, LIG Nex1（LIG Nex1无人机研究与发展实验室）
Cross-modal learning for SAR target recognition using optical vision foundation models
School of Engineering, University of Edinburgh（爱丁堡大学工程学院）；Leonardo UK（英国莱昂纳多公司）；School of Engineering and Physical Sciences, Heriot-Watt University（赫瑞瓦特大学工程与物理科学学院）
