The advancement of self-driving technology is driven by the need for robust and efficient perception systems along with frameworks for End-to-End testing, enabled by the CARLA simulator. We introduce C-Shenron, a novel integration of a realistic radar sensor model within CARLA, enabling researchers to develop and test navigation algorithms using radar data. It is the first realistic radar simulator which utilizes LiDAR and camera sensors to generate high-fidelity radar ADC measurements from physics based modeling of the environment. Utilizing this radar sensor and showcasing its capabilities in simulation, we demonstrate improved performance in end-to-end driving scenarios. Our setup aims to rekindle the interest in radar-based self-driving research and promote the development of algorithms that leverages its strengths.

The advancement of self-driving technology is driven by the need for robust perception and navigation systems. Simulators for autonomous driving facilitate the rapid development and testing of navigation algorithms; however, a key issue for most is their inaccurate modeling of the radar sensor. This is a significant drawback as radars offer robust sensing capabilities in adverse weather conditions and occlusions. CARLA, a widely adopted open-source simulator, provides a simplistic radar model that fails to capture the complex physical and material-dependent behavior of real-world radar. To address these limitations, we present CShenron, a radar simulation framework integrated into CARLA, which generates realistic radar measurements by fusing LiDAR and camera data. C-Shenron also supports configurable radar parameters, multiple sensor placements, and scalable dataset generation. Our evaluations demonstrate that radar-camera fusion models, trained with C-Shenron’s generated data, achieve performance equivalent to traditional LiDAR-camera baselines on key metrics from the CARLA leaderboard.

Government welfare schemes such as the Mahatma Gandhi National Rural Employment Guarantee Act (MGNREGA) in India fund the creation of assets for natural resource management in rural villages to support farmers for their agricultural and livelihoods-based needs. With most agriculture in India being rain-fed, structures such as farm ponds, checkdams, trenches and bunds play a crucial role in supporting groundwater recharge and providing critical lifesaving irrigation in times of dry spells and droughts. In this study, we investigate the impact of farm ponds built under the MGNREGA scheme in Northern India as a source of protective irrigation for cropping areas in their immediate neighbourhood. We assess the impact of farm ponds on the following aspects: (i) we study their impact on agricultural productivity for up to five years since their construction, (ii) we separately study their impact in drought years during this period, (iii) we study the extent to which they are able to to reduce the sensitivity to droughts of sites having farm ponds. A causal analysis framework was designed by identifying control sites that did not have farm ponds, and the treatment effect of having farm ponds was computed using the difference-in-differences approach. Remote sensing data was processed to compute changes in vegetation indices around the treated and control locations before and after the construction of farm ponds. Our results indicate that farm ponds were instrumental in improving the agricultural productivity during the monsoon season in general. The impact during the monsoon season in drought years is also positive and significant. Furthermore, farm ponds also facilitated in reducing drought sensitivity during the monsoon season. The impact during the post-monsoon season was found to be lower, and the impact during the summer agricultural season was found to be the least.

FMCW radars are integral to automotive driving for robust and weather-resistant sensing of surrounding objects. However, these radars are vulnerable to spoofing attacks that can cause sensor malfunction and potentially lead to accidents. Previous attempts at spoofing FMCW radars using an attacker device have not been very effective due to the need for synchronization between the attacker and the victim. We present a novel spoofing mechanism called mmSpoof that does not require synchronization and is resilient to various security features and countermeasures of the victim radar. Our spoofing mechanism uses a "reflect array" based attacker device that reflects the radar signal with appropriate modulation to spoof the victim’s radar. We provide insights and mechanisms to flexibly spoof any distance and velocity on the victim’s radar using a unique frequency shift at the mmSpoof’s reflect array. We design a novel algorithm to estimate this frequency shift without assuming prior information about the victim’s radar. We show the effectiveness of our spoofing using a compact and mobile setup with commercial-off-the-shelf components in realistic automotive driving scenarios with commercial radars.

Millimeter wave (mmWave) sensing has recently gained attention for its robustness in challenging environments. When visual sensors such as cameras fail to perform, mmWave radars can be used to provide reliable performance. However, the poor scattering performance and lack of texture in millimeter waves can make it difficult for radars to identify objects in some situations precisely. In this paper, we take insight from camera fiducials which are very easily identifiable by a camera, and present R-fiducial tags, which smartly augment the current infrastructure to enable myriad applications with mmwave radars. R-fiducial acts as fiducials for mmwave sensing, similar to camera fiducials, and can be reliably identified by a mmwave radar. We identify a set of requirements for millimeter wave fiducials and show how R-fiducial meets them all. R-fiducial uses a novel spread-spectrum modulation technique to provide low latency with high reliability. Our evaluations show that R-fiducial can be reliably detected with a 100% detection rate up to 25 meters with a 120-degree field of view and a few milliseconds of latency. We also conduct experiments and case studies in adverse and low visibility conditions to demonstrate the potential of R-fiducial in a variety of applications.

Autonomous perception requires high-quality environment sensing in the form of 3D bounding boxes of dynamic objects. The primary sensors used in automotive systems are light-based cameras and LiDARs. However, they are known to fail in adverse weather conditions. Radars can potentially solve this problem as they are barely affected by adverse weather conditions. However, specular reflections of wireless signals cause poor performance of radar point clouds. We introduce Pointillism, a system that combines data from multiple spatially separated radars with an optimal separation to mitigate these problems. We introduce a novel concept of Cross Potential Point Clouds, which uses the spatial diversity induced by multiple radars and solves the problem of noise and sparsity in radar point clouds. Furthermore, we present the design of RP-net, a novel deep learning architecture, designed explicitly for radar's sparse data distribution, to enable accurate 3D bounding box estimation. The spatial techniques designed and proposed in this paper are fundamental to radars point cloud distribution and would benefit other radar sensing applications