レーダーアーティファクトラベリングフレームワーク（RALF）：データセット内の妥当なレーダー検出のための手法
Radar Artifact Labeling Framework (RALF): Method for Plausible Radar Detections in Datasets
カメラとLiDARの深度情報を活用し、レーダー生検出をアーティファクトとターゲットに自動分類するクロスセンサー型ラベリング手法を提案。時間追跡も組み合わせて各検出の妥当性を評価する。
著者: Simon T. Isele, Marcel P. Schilling, Fabian E. Klein, Sascha Saralajew, J. Marius Zoellner
分類: cs.RO, cs.AI, cs.LG
原文アブストラクト
Research on localization and perception for Autonomous Driving is mainly focused on camera and LiDAR datasets, rarely on radar data. Manually labeling sparse radar point clouds is challenging. For a dataset generation, we propose the cross sensor Radar Artifact Labeling Framework (RALF). Automatically generated labels for automotive radar data help to cure radar shortcomings like artifacts for the application of artificial intelligence. RALF provides plausibility labels for radar raw detections, distinguishing between artifacts and targets. The optical evaluation backbone consists of a generalized monocular depth image estimation of surround view cameras plus LiDAR scans. Modern car sensor sets of cameras and LiDAR allow to calibrate image-based relative depth information in overlapping sensing areas. K-Nearest Neighbors matching relates the optical perception point cloud with raw radar detections. In parallel, a temporal tracking evaluation part considers the radar detections' transient behavior. Based on the distance between matches, respecting both sensor and model uncertainties, we propose a plausibility rating of every radar detection. We validate the results by evaluating error metrics on semi-manually labeled ground truth dataset of $3.28\cdot10^6$ points. Besides generating plausible radar detections, the framework enables further labeled low-level radar signal datasets for applications of perception and Autonomous Driving learning tasks.
