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Generation of Realistic Synthetic Raw Radar Data for Automated Driving Applications using Generative Adversarial Networks
No full textThe main approaches for simulating FMCW radar are based on ray tracing, which is usually computationally intensive and do not account for background noise. This work proposes a faster method for FMCW radar simulation capable of generating synthetic raw radar data using generative adversarial networks (GAN). The code and pre-trained weights are open-source and available on GitHub. This method generates 16 simultaneous chirps, which allows the generated data to be used for the further development of algorithms for processing radar data (filtering and clustering). This can increase the potential for data augmentation, e.g., by generating data in non-existent or safety-critical scenarios that are not reproducible in real life. In this work, the GAN was trained with radar measurements of a motorcycle and used to generate synthetic raw radar data of a motorcycle traveling in a straight line. For generating this data, the distance of the motorcycle and Gaussian noise are used as input to the neural network. The synthetic generated radar chirps were evaluated using the Frechet Inception Distance (FID). Then, the Range-Azimuth (RA) map is calculated twice: first, based on synthetic data using this GAN and, second, based on real data. Based on these RA maps, an algorithm with adaptive threshold and edge detection is used for object detection. The results have shown that the data is realistic in terms of coherent radar reflections of the motorcycle and background noise based on the comparison of chirps, the RA maps and the object detection results. Thus, the proposed method in this work has shown to minimize the simulation-to-reality gap for the generation of radar data
A concept to solve Bin Picking problem in the robotics based on CAD Model and Measurement data
No full textGRETEL: Graph-based Street Coverage Calculation for Vehicle-to-Infrastructure Communication
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3D Extended Object Tracking based on Extruded B-Spline Side View Profiles
Get PDFObject tracking is an essential task for autonomous systems. With the advancement of 3D sensors, these systems can better perceive their surroundings using effective 3D Extended Object Tracking (EOT) methods. Based on the observation that common road users are symmetrical on the right and left sides in the traveling direction, we focus on the side view profile of the object. In order to leverage of the development in 2D EOT and balance the number of parameters of a shape model in the tracking algorithms, we propose a method for 3D extended object tracking (EOT) by describing the side view profile of the object with B-spline curves and forming an extrusion to obtain a 3D extent. The use of B-spline curves exploits their flexible representation power by allowing the control points to move freely. The algorithm is developed into an Extended Kalman Filter (EKF). For a through evaluation of this method, we use simulated traffic scenario of different vehicle models and realworld open dataset containing both radar and lidar data
Influence of alloying elements on precipitation formation and mechanical properties of Al–Cr–Mo-Sc-Zr alloys during laser powder bed fusion at room and elevated temperatures
Get PDFMost of the high-strength aluminium alloys for Laser Powder Bed Fusion (L-PBF) in research are based on conventional hardenable Al–Cu, Al–Mg–Si and Al–Zn–Mg alloys that have issues with hot-cracking during the L-PBF process. This study investigates the effect of alloying elements on two novel Al–Cr–Mo-Sc-Zr alloys (Scancromal® variants) with a good, crack-free processability and strength-ductility combination. A layer thickness of 100 μm was used, highlighting the high productivity and good processability of Al–Cr alloys. Heat treatments and hardness measurements were conducted to investigate peak age heat treatment and revealed a relation between Sc/Zr-ratio and peak aged temperature. SEM observations of small precipitates at grain boundaries and fracture surfaces contributed to understanding the changing fracture mechanism from less ductile (2.4–10.2% elongation) to very ductile (14.1–19% elongation). Tensile tests at elevated temperatures and creep tests showed a positive effect of Cr and Mo on high temperature strength. High-temperature properties, especially creep results of Al–Cr alloys and Scalmalloy® (Al–Mg–Mn-Sc-Zr) are presented for the first time and emphasize the increased heat-resistance by Cr and Mo. The threshold stress, below which theoretically no creep should occur, of the presented Scancromal® variants is at least 5 times higher (142–189 MPa) compared to Scalmalloy® (28 MPa). A comprehensive comparison of the results to literature values of AlSi10Mg, other Al–Cr alloys and high temperature Al alloys gives valuable insight on how the aging response, microstructure, ductility and high-temperature strength of this type of alloy is influenced by its alloying elements
New Frontiers of Human-centered Explainable AI (HCXAI): Participatory Civic AI, Benchmarking LLMs, XAI Hallucinations, and Responsible AI Audits
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