DART: Doppler-Aided Radar Tomography

Implementation of DART: Implicit Doppler Tomography for Radar Novel View Synthesis

Setup

0. Ensure that you have python (>=3.8), CUDA (>=11.8), and CUDNN.

1. Install jax. Note that you will need to manually install jax-gpu to match the cuda version:

   pip install --upgrade "jax[cuda11_local]" -f https://storage.googleapis.com/jax-releases/jax_cuda_releases.html

   for CUDA 11.x.

   NOTE: jax is not included in requirements.txt due to requiring CUDA-dependent manual installation.

2. Install libhdf5:

   sudo apt-get -y install libhdf5-dev

3. Install python dependencies:

   pip install -r requirements.txt

   • Use Python 3.11, CUDA 11.8, Jax 0.4.10, and pip install -r requirements-pinned.txt to get the exact version of dependencies that we used.

4. Prepare datasets.

   • If downloading our datasets, you will need to create a formatted dataset (data.h5) for training:

     python manage.py dataset -p data/path/to/dataset

   • The dataset format is also documented on the datasets page.

Usage

TL;DR:

TARGET=output DATASET=lab-1 make experiment

With arguments:

TARGET=output METHOD=ngp DATASET=lab-1 FLAGS="---epochs 5" make experiment

• METHOD=ngp: model to train (ngp, ngpsh, ngpsh2, grid).
• DATASET=path/to/dataset: dataset to use, organized as follows:

  data/path/to/dataset/
      sensor.json             # Sensor configuration file
      data.h5                 # Data file with pose and range-doppler images.

  Note: sensor.json and data.h5 can also be specified by -s path/to/dataset.json and -p path/to/data.h5.
• TARGET=path/to/output: save results (checkpoints, evaluation, and configuration) to results/path/to/output.
• FLAGS=...: arguments to pass to train.py; see python train.py -h and python train.py ngpsh -h, replacing ngpsh with the target method.

This creates the following files in results/output:

results/
    output/
        metadata.json       # Model/dataset/training metadata
        model.chkpt         # Model weights checkpoint
        pred.h5             # Predicted range-doppler images
        cam.h5              # Virtual camera renderings for the trajectory
        map.h5              # Map of the scene sampled at 25 units/meter
        output.video.mp4    # Output camera + radar video
        output.map.mp4      # Video where each frame is a horizontal slice
    ...

Multiple models on the same trajectory can also be combined into a single output video:

python manage.py video -p results/output results/output2 ... -f 30 -s 512 -o results/video.mp4

Available Commands

See -h for each command/subcommand for more details.

train.py: train model; each subcommand is a different model class.

• grid: plenoxels-style grid.
• ngp: non-view-dependent NGP-style neural hash grid.
• ngpsh: NGP-style neural hash with plenoctrees-style view dependence (what DART uses).
• ngpsh2: NGP-style neural hash with nerfacto-style view dependence.

manage.py: evaluation and visualization tools:

• simulate: create simulated dataset from a ground truth reflectance grid (e.g. the map.npz file obtained from LIDAR.)
• evaluate: apply model to all poses in the trace, saving the result to disk. Can't be the same program as train.py due to vram limitations - need to completely free training memory allocation before running evaluate.
• video: create video from radar and "camera" frames; need to run evaluate -a and evaluate -ac first.
• map: evaluate DART model in a grid.
• slice: render MRI-style tomographic slices, and write each slice to a frame in a video; need to run map first.
• metrics: compute validation-set SSIM for range-doppler-azimuth images.
• compare: create a side-by-side video comparison of different methods (and/or ground truth).
• dataset: create a filtered train/val.
• psnr: calculate reference PSNR for gaussian noise.