Seeing around Street Corners: Non-Line-of-Sight Detection and Tracking In-the-Wild Using Doppler Radar

Nicolas Scheiner, Florian Kraus, Fangyin Wei, Buu Phan, Fahim Mannan, Nils Appenrodt, Werner Ritter, Jurgen DIckmann, Klaus DIetmayer, Bernhard Sick, Felix Heide

Research output: Contribution to journalConference articlepeer-review

6 Scopus citations

Abstract

Conventional sensor systems record information about directly visible objects, whereas occluded scene components are considered lost in the measurement process. Non-line-of-sight (NLOS) methods try to recover such hidden objects from their indirect reflections - faint signal components, traditionally treated as measurement noise. Existing NLOS approaches struggle to record these low-signal components outside the lab, and do not scale to large-scale outdoor scenes and high-speed motion, typical in automotive scenarios. In particular, optical NLOS capture is fundamentally limited by the quartic intensity falloff of diffuse indirect reflections. In this work, we depart from visible-wavelength approaches and demonstrate detection, classification, and tracking of hidden objects in large-scale dynamic environments using Doppler radars that can be manufactured at low-cost in series production. To untangle noisy indirect and direct reflections, we learn from temporal sequences of Doppler velocity and position measurements, which we fuse in a joint NLOS detection and tracking network over time. We validate the approach on in-the-wild automotive scenes, including sequences of parked cars or house facades as relay surfaces, and demonstrate low-cost, real-time NLOS in dynamic automotive environments.

Original languageEnglish (US)
Article number9157505
Pages (from-to)2065-2074
Number of pages10
JournalProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
DOIs
StatePublished - 2020
Event2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2020 - Virtual, Online, United States
Duration: Jun 14 2020Jun 19 2020

All Science Journal Classification (ASJC) codes

  • Software
  • Computer Vision and Pattern Recognition

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