The unique properties of radar sensors, such as their robustness to adverse weather conditions, make them an important part of the environment perception system of autonomous vehicles. One of the first steps during the processing of radar point clouds is often the detection of clutter, i.e. erroneous points that do not correspond to real objects. Another common objective is the semantic segmentation of moving road users. These two problems are handled strictly separate from each other in literature. The employed neural networks are always focused entirely on only one of the tasks. In contrast to this, we examine ways to solve both tasks at the same time with a single jointly used model. In addition to a new augmented multi-head architecture, we also devise a method to represent a network's predictions for the two tasks with only one output value. This novel approach allows us to solve the tasks simultaneously with the same inference time as a conventional task-specific model. In an extensive evaluation, we show that our setup is highly effective and outperforms every existing network for semantic segmentation on the RadarScenes dataset.

A generative probabilistic model for objects in images is presented. An object consists of a constellation of features. Feature appearance and pose are modeled probabilistically. Scene images are generated by draw- ing a set of objects from a given database, with random clutter sprinkled on the remaining image surface. We study the case where features from the same object share a common reference frame. Moreover, parameters for shape and appearance den- sities are shared across features.

Radar sensors employed for environment perception, e.g. in autonomous vehicles, output a lot of unwanted clutter. These points, for which no corresponding real objects exist, are a major source of errors in following processing steps like object detection or tracking. We therefore present two novel neural network setups for identifying clutter. The input data, network architectures and training configuration are adjusted specifically for this task. Special attention is paid to the downsampling of point clouds composed of multiple sensor scans. In an extensive evaluation, the new setups display substantially better performance than existing approaches. Because there is no suitable public data set in which clutter is annotated, we design a method to automatically generate the respective labels. By applying it to existing data with object annotations and releasing its code, we effectively create the first freely available radar clutter data set representing real-world driving scenarios. Code and instructions are accessible at www.github.com/kopp-j/clutter-ds.

A generative probabilistic model for objects in images is presented. An object consists of a constellation of features. Feature appearance and pose are modeled probabilistically. Scene images are generated by drawing a set of objects from a given database, with random clutter sprinkled on the remaining image surface.

A generative probabilistic model for objects in images is presented. An object consists of a constellation of features. Feature appearance and pose are modeled probabilistically. Scene images are generated by drawing a set of objects from a given database, with random clutter sprinkled on the remaining image surface.

A generative probabilistic model for objects in images is presented. An object consists of a constellation of features. Feature appearance and pose are modeled probabilistically. Scene images are generated by drawing aset of objects from a given database, with random clutter sprinkled on the remaining image surface.