Adaptive Automotive Radar data Acquisition
Authors: Madhumitha Sakthi, Ahmed Tewfik
Keywords: Compressed Sensing, Adaptive acquisition, object detection
Abstract: In an autonomous driving scenario, it is vital to acquire and efficiently process data from various sensors to obtain a complete and robust perspective of the surroundings. Many studies have shown the importance of having radar data in addition to images since radar improves object detection performance. We develop a novel algorithm motivated by the hypothesis that with a limited sampling budget, allocating more sampling budget to areas with the object as opposed to a uniform sampling budget ultimately improves relevant object detection and classification. In order to identify the areas with objects, we develop an algorithm to process the object detection results from the Faster R-CNN object detection algorithm and the previous radar frame and use these as prior information to adaptively allocate more bits to areas in the scene that may contain relevant objects. We use previous radar frame information to mitigate the potential information loss of an object missed by the image or the object detection network. Also, in our algorithm, the error of missing relevant information in the current frame due to the limited budget sampling of the previous radar frame did not propagate across frames. We also develop an end-to-end transformer-based 2D object detection network using the NuScenes radar and image data. Finally, we compare the performance of our algorithm against that of standard CS and adaptive CS using radar on the Oxford Radar RobotCar dataset.