RADAR data details

[asobti]

Hi

Could you provide more details for the radar data? Specifically,

• How many receivers does each radar module have? This should give us an estimate of how accurate x,y values would be.
• What are the x_rms, y_rms values?
• Does your radar module provide clustered data? Is unclustered data also available?
• Both absolute and compensated velocities are provided. Since the car would be moving during data collection, are the velocities relative? Where can I check the speed of the vehicle for a given frame?

[holger-motional]

Hi asobti,

• The antenna channels are described as “4TX/2x6RX = 24 channels = 2TX/6RX far - 2TX/6RX near /
  Digital Beam Forming” in the data sheet.
• Please take a look at the radar fields we provide in https://github.com/nutonomy/nuscenes-devkit/blob/master/python-sdk/nuscenes/utils/data_classes.py#L294 . A number of fields are related to clustering, but we do provide everything we get including raw data.
• I will send to you the data sheet in a PM, so you can look up everything you need.
• At the moment we don’t provide measurements of the speed (which would obviously be noisy), but rather only the ego pose for each sensor reading (camera/lidar/radar). This is the output of a lidar-based localization algorithm. Then you can compute the box velocity using https://github.com/nutonomy/nuscenes-devkit/blob/master/python-sdk/nuscenes/nuscenes.py#L322

[desmond13]

@holger-motional, could you please send me the data sheet too in a PM?

[holger-motional]

@desmond13 Please send an email to nuscenes@motional.com to request it. Thanks.