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Register a new userDeep Open Space Segmentation using Automotive Radar
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In this work, we propose the use of radar with advanced deep segmentation models to identify open space in parking scenarios. A publically available dataset of radar observations called SCORP was collected. Deep models are evaluated with various radar input representations. Our proposed approach achieves low memory usage and real-time processing speeds, and is thus very well suited for embedded deployment.
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Camera and Lidar processing have been revolutionized with the rapid development of deep learning model architectures. Automotive radar is one of the crucial elements of automated driver assistance and autonomous driving systems. Radar still relies on traditional signal processing techniques, unlike camera and Lidar based methods. We believe this is the missing link to achieve the most robust perception system. Identifying drivable space and occupied space is the first step in any autonomous decision making task. Occupancy grid map representation of the environment is often used for this purpose. In this paper, we propose PolarNet, a deep neural model to process radar information in polar domain for open space segmentation. We explore various input-output representations. Our experiments show that PolarNet is a effective way to process radar data that achieves state-of-the-art performance and processing speeds while maintaining a compact size.
Millimeter-wave (mmW) radars are being increasingly integrated in commercial vehicles to support new Adaptive Driver Assisted Systems (ADAS) for its ability to provide high accuracy location, velocity, and angle estimates of objects, largely independent of environmental conditions. Such radar sensors not only perform basic functions such as detection and ranging/angular localization, but also provide critical inputs for environmental perception via object recognition and classification. To explore radar-based ADAS applications, we have assembled a lab-scale frequency modulated continuous wave (FMCW) radar test-bed (https://depts.washington.edu/funlab/research) based on Texas Instruments (TI) automotive chipset family. In this work, we describe the test-bed components and provide a summary of FMCW radar operational principles. To date, we have created a large raw radar dataset for various objects under controlled scenarios. Thereafter, we apply some radar imaging algorithms to the collected dataset, and present some preliminary results that validate its capabilities in terms of object recognition.
Nowadays, mutual interference among automotive radars has become a problem of wide concern. In this paper, a decentralized spectrum allocation approach is presented to avoid mutual interference among automotive radars. Although decentralized spectrum allocation has been extensively studied in cognitive radio sensor networks, two challenges are observed for automotive sensors using radar. First, the allocation approach should be dynamic as all radars are mounted on moving vehicles. Second, each radar does not communicate with the others so it has quite limited information. A machine learning technique, reinforcement learning, is utilized because it can learn a decision making policy in an unknown dynamic environment. As a single radar observation is incomplete, a long short-term memory recurrent network is used to aggregate radar observations through time so that each radar can learn to choose a frequency subband by combining both the present and past observations. Simulation experiments are conducted to compare the proposed approach with other common spectrum allocation methods such as the random and myopic policy, indicating that our approach outperforms the others.
We consider the problem of range-Doppler imaging using one-bit automotive LFMCW1 or PMCW radar that utilizes one-bit ADC sampling with time-varying thresholds at the receiver. The one-bit sampling technique can significantly reduce the cost as well as the power consumption of automotive radar systems. We formulate the one-bit LFMCW/PMCW radar rangeDoppler imaging problem as one-bit sparse parameter estimation. The recently proposed hyperparameter-free (and hence user friendly) weighted SPICE algorithms, including SPICE, LIKES, SLIM and IAA, achieve excellent parameter estimation performance for data sampled with high precision. However, these algorithms cannot be used directly for one-bit data. In this paper we first present a regularized minimization algorithm, referred to as 1bSLIM, for accurate range-Doppler imaging using onebit radar systems. Then, we describe how to extend the SPICE, LIKES and IAA algorithms to the one-bit data case, and refer to these extensions as 1bSPICE, 1bLIKES and 1bIAA. These onebit hyperparameter-free algorithms are unified within the one-bit weighted SPICE framework. Moreover, efficient implementations of the aforementioned algorithms are investigated that rely heavily on the use of FFTs. Finally, both simulated and experimental examples are provided to demonstrate the effectiveness of the proposed algorithms for range-Doppler imaging using one-bit automotive radar systems.
Robust sensing and perception in adverse weather conditions remains one of the biggest challenges for realizing reliable autonomous vehicle mobility services. Prior work has established that rainfall rate is a useful measure for adversity of atmospheric weather conditions. This work presents a probabilistic hierarchical Bayesian model that infers rainfall rate from automotive lidar point cloud sequences with high accuracy and reliability. The model is a hierarchical mixture of expert model, or a probabilistic decision tree, with gating and expert nodes consisting of variational logistic and linear regression models. Experimental data used to train and evaluate the model is collected in a large-scale rainfall experiment facility from both stationary and moving vehicle platforms. The results show prediction accuracy comparable to the measurement resolution of a disdrometer, and the soundness and usefulness of the uncertainty estimation. The model achieves RMSE 2.42 mm/h after filtering out uncertain predictions. The error is comparable to the mean rainfall rate change of 3.5 mm/h between measurements. Model parameter studies show how predictive performance changes with tree depth, sampling duration, and crop box dimension. A second experiment demonstrate the predictability of higher rainfall above 300 mm/h using a different lidar sensor, demonstrating sensor independence.
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