A distinctive feature of Doppler radar is the measurement of velocity in the radial direction for radar points. However, the missing tangential velocity component hampers object velocity estimation as well as temporal integration of radar sweeps in d
ynamic scenes. Recognizing that fusing camera with radar provides complementary information to radar, in this paper we present a closed-form solution for the point-wise, full-velocity estimate of Doppler returns using the corresponding optical flow from camera images. Additionally, we address the association problem between radar returns and camera images with a neural network that is trained to estimate radar-camera correspondences. Experimental results on the nuScenes dataset verify the validity of the method and show significant improvements over the state-of-the-art in velocity estimation and accumulation of radar points.
Early detection of the coronavirus disease 2019 (COVID-19) helps to treat patients timely and increase the cure rate, thus further suppressing the spread of the disease. In this study, we propose a novel deep learning based detection and similar case
recommendation network to help control the epidemic. Our proposed network contains two stages: the first one is a lung region segmentation step and is used to exclude irrelevant factors, and the second is a detection and recommendation stage. Under this framework, in the second stage, we develop a dual-children network (DuCN) based on a pre-trained ResNet-18 to simultaneously realize the disease diagnosis and similar case recommendation. Besides, we employ triplet loss and intrapulmonary distance maps to assist the detection, which helps incorporate tiny differences between two images and is conducive to improving the diagnostic accuracy. For each confirmed COVID-19 case, we give similar cases to provide radiologists with diagnosis and treatment references. We conduct experiments on a large publicly available dataset (CC-CCII) and compare the proposed model with state-of-the-art COVID-19 detection methods. The results show that our proposed model achieves a promising clinical performance.
While radar and video data can be readily fused at the detection level, fusing them at the pixel level is potentially more beneficial. This is also more challenging in part due to the sparsity of radar, but also because automotive radar beams are muc
h wider than a typical pixel combined with a large baseline between camera and radar, which results in poor association between radar pixels and color pixel. A consequence is that depth completion methods designed for LiDAR and video fare poorly for radar and video. Here we propose a radar-to-pixel association stage which learns a mapping from radar returns to pixels. This mapping also serves to densify radar returns. Using this as a first stage, followed by a more traditional depth completion method, we are able to achieve image-guided depth completion with radar and video. We demonstrate performance superior to camera and radar alone on the nuScenes dataset. Our source code is available at https://github.com/longyunf/rc-pda.
