Full-Velocity Radar Returns by Radar-Camera Fusion

08/24/2021
by   Yunfei Long, et al.
3

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 dynamic 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.

READ FULL TEXT

page 4

page 6

page 8

page 9

page 13

research
11/10/2020

CenterFusion: Center-based Radar and Camera Fusion for 3D Object Detection

The perception system in autonomous vehicles is responsible for detectin...
research
06/05/2021

Radar-Camera Pixel Depth Association for Depth Completion

While radar and video data can be readily fused at the detection level, ...
research
04/30/2020

Ocean surface radial velocity imaging in the AT-INSAR Velocity Bunching Model. A functional approach

This work is concerned with the estimation of radial velocities of sea s...
research
12/23/2020

Warping of Radar Data into Camera Image for Cross-Modal Supervision in Automotive Applications

In this paper, we present a novel framework to project automotive radar ...
research
03/20/2023

Dual-Weight Particle Filter for Radar-Based Dynamic Bayesian Grid Maps

Through constant improvements in recent years radar sensors have become ...
research
12/09/2020

Fusion of rain radar images and wind forecasts in a deep learning model applied to rain nowcasting

Short or mid-term rainfall forecasting is a major task for several envir...
research
04/25/2020

CNN based Road User Detection using the 3D Radar Cube

This letter presents a novel radar based, single-frame, multi-class dete...

Please sign up or login with your details

Forgot password? Click here to reset