Simulating Automotive Radar with Lidar and Camera Inputs
Song, Peili Song, Dezhen Yang, Yifan Lan, Enfan Liu, Jingtai
Song, Peili
Song, Dezhen
Yang, Yifan
Lan, Enfan
Liu, Jingtai
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Department
Robotics
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Conference proceeding
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Abstract
Low-cost millimeter automotive radar has received more and more attention due to its ability to handle adverse weather and lighting conditions in autonomous driving. However, the lack of quality datasets hinders research and development. We report a new method that is able to simulate 4D millimeter wave radar signals including pitch, yaw, range, and Doppler velocity along with radar signal strength (RSS) using camera image, light detection and ranging (lidar) point cloud, and ego-velocity. The method is based on two new neural networks: 1) DIS-Net, which estimates the spatial distribution and number of radar signals, and 2) RSS-Net, which predicts the RSS of the signal based on appearance and geometric information. We have implemented and tested our method using open datasets from 3 different models of commercial automotive radar. The experimental results show that our method can successfully generate high-fidelity radar signals. Moreover, we have trained a popular object detection neural network with data augmented by our synthesized radar. The network outperforms the counterpart trained only on raw radar data, a promising result to facilitate future radar-based research and development.
Citation
P. Song, D. Song, Y. Yang, E. Lan, J. Liu, "Simulating Automotive Radar with Lidar and Camera Inputs," 2025, pp. 11112-11119.
Source
2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Conference
International Conference on Intelligent Robots and Systems (IROS)
Keywords
40 Engineering, 4013 Geomatic Engineering, 46 Information and Computing Sciences, 4605 Data Management and Data Science
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Source
International Conference on Intelligent Robots and Systems (IROS)
Publisher
IEEE