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Item type:Publication, Access status: with files , HARadNet: Anchor-free target detection for radar point clouds using hierarchical attention and multi-task learningTarget localization and classification from radar point clouds is a challenging task due to the inherently sparse nature of the data with highly non-uniform target distribution. This work presents HARadNet, a novel attention based anchor free target detection and classification network architecture in a multi-task learning framework for radar point clouds data. A direction field vector is used as motion modality to achieve attention inside the network. The attention operates at different hierarchy of the feature abstraction layer with each point sampled according to a conditional direction field vector, allowing the network to exploit and learn a joint feature representation and correlation to its neighborhood. This leads to a significant improvement in the performance of the classification. Additionally, a parameter-free target localization is proposed using Bayesian sampling conditioned on a pre-trained direction field vector. The extensive evaluation on a public radar dataset shows an substantial increase in localization and classification performance.Publicationtype: Journal Article47 10 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , A Bayesian framework for integrated deep metric learning and tracking of vulnerable road users using automotive radars(IEEE, 2021-05-05); ; ; ; With the recent advancements in radar systems, radar sensors offer a promising and effective perception of the surrounding. This includes target detection, classification and tracking. Compared to the state-of-the-art, where the state vector of classical tracker considers only localization parameters, this paper proposes an integrated Bayesian framework by augmenting state vector with feature embedding as appearance parameter together with localization parameter. In context of automotive vulnerable road users (VRUs) such as pedestrian and cyclist, the classical tracker poses multiple challenges to preserve the identity of the tracked target during partial or complete occlusion, due to low inter-class (pedestrian-cyclist) variations and strong similarity between intra-class (pedestrian-pedestrian). Subsequently, feature embedding corresponding to target's micro-Doppler signature are learned using novel Bayesian based deep metric learning approaches. The tracker's performance is optimized due to a better separability of the targets. At the same time, the classifiers' performance is enhanced due to Bayesian formulation utilizing the temporal smoothing of the classifier's embedding vector. In this work, we demonstrate the performance of the proposed Bayesian framework using several vulnerable user targets based on a 77 GHz automotive radar.Publicationtype: Journal ArticleScopus© Citations 16 146 248