Closed shawrby closed 9 months ago
Hello, @shawrby
We appreciate for you for your interest for our work.
The hyper-parameters for CFAR has not been optimized, since we utilize 'quantile' function for the network input.
We recommend you to adjust the hyper-parameters for CFAR by comparing the Radar point cloud with the calibrated Lidar point cloud.
The function is on line 673 of https://github.com/kaist-avelab/K-Radar/blob/f561bb5373e6d5aa85309310553ff2d63440c506/datasets/kradar_detection_v1_0.py
In addition, the hyper-parameters for CFAR are on line 130 of https://github.com/kaist-avelab/K-Radar/blob/main/configs/cfg_RTNH.yml.
Thank you.
Hi, @shawrby, we are also trying to generate decent point clouds from radar tensor. Have you got any ideal results after adjusting hyper-parameters for CFAR?
For the latest updates for 4D Radar point cloud, please refer to following two materials:
Thank you for your great research.
I processed the radar cube with CFAR and extracted the radar point cloud as shown in the figure below.
Is this radar point cloud correct?