Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2023
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2312.04519 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866916211031277568 |
|---|---|
| author | Hao, Yiduo Madani, Sohrab Guan, Junfeng Alloulah, Mohammed Gupta, Saurabh Hassanieh, Haitham |
| author_facet | Hao, Yiduo Madani, Sohrab Guan, Junfeng Alloulah, Mohammed Gupta, Saurabh Hassanieh, Haitham |
| contents | The perception of autonomous vehicles using radars has attracted increased research interest due its ability to operate in fog and bad weather. However, training radar models is hindered by the cost and difficulty of annotating large-scale radar data. To overcome this bottleneck, we propose a self-supervised learning framework to leverage the large amount of unlabeled radar data to pre-train radar-only embeddings for self-driving perception tasks. The proposed method combines radar-to-radar and radar-to-vision contrastive losses to learn a general representation from unlabeled radar heatmaps paired with their corresponding camera images. When used for downstream object detection, we demonstrate that the proposed self-supervision framework can improve the accuracy of state-of-the-art supervised baselines by $5.8\%$ in mAP. Code is available at \url{https://github.com/yiduohao/Radical}. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2312_04519 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Bootstrapping Autonomous Driving Radars with Self-Supervised Learning Hao, Yiduo Madani, Sohrab Guan, Junfeng Alloulah, Mohammed Gupta, Saurabh Hassanieh, Haitham Computer Vision and Pattern Recognition The perception of autonomous vehicles using radars has attracted increased research interest due its ability to operate in fog and bad weather. However, training radar models is hindered by the cost and difficulty of annotating large-scale radar data. To overcome this bottleneck, we propose a self-supervised learning framework to leverage the large amount of unlabeled radar data to pre-train radar-only embeddings for self-driving perception tasks. The proposed method combines radar-to-radar and radar-to-vision contrastive losses to learn a general representation from unlabeled radar heatmaps paired with their corresponding camera images. When used for downstream object detection, we demonstrate that the proposed self-supervision framework can improve the accuracy of state-of-the-art supervised baselines by $5.8\%$ in mAP. Code is available at \url{https://github.com/yiduohao/Radical}. |
| title | Bootstrapping Autonomous Driving Radars with Self-Supervised Learning |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2312.04519 |