README.md

metadata

license: cc-by-4.0
tags:
  - radar
  - mmwave
  - fmcw
  - point-cloud
  - robotics
pretty_name: Sim2Radar Artifacts

Sim2Radar — Artifacts

Artifacts for the Sim2Radar simulation framework (anonymous submission under review): real FMCW mmWave radar recordings used for evaluation. All radar data is raw ADC / pre-FFT IQ samples at 77 GHz (TI IWR1843BOOST + DCA1000EVM).

Contents

data/
  rover/
    lecture_hall/        # indoor environment 1 (recordings tagged "env")
      depth/             # sensor moves toward/away from a static object
      lateral/           # sensor moves laterally past a static object
    squash/              # indoor environment 2 (recordings tagged "squash"/"court")
      depth/
      lateral/
  microbench/            # controlled single-object motion primitives

data/rover/ — moving sensor, static object

A mobile robot carries the radar plus an RGB-D camera past a static target object placed on a stand. Sweep: 0.275 m/s, 1 m travel, 4 passes per recording. Start distances of 0.5 m, 1 m, and 2 m.

Recording folder naming:

<timestamp>_<site>_<object>_<start_dist>_<sweep_len>_<Depth|Lateral>_x<passes>

Note: recordings whose timestamps begin with 1969_12_31 come from a capture machine without a synchronized real-time clock; the relative timing within each recording is still consistent.

Each recording folder contains:

• radar_data/raw/*.bin — raw ADC captures, one file per radar frame (sequence-numbered)
• rosbag/ — ROS 2 bag (sqlite3) with topics:
  • /camera/color/image_raw, /camera/color/camera_info
  • /camera/depth/image_rect_raw, /camera/depth/camera_info
  • /radar/frame_ref — radar frame reference messages
  • /synced/pair — JSON strings pairing RGB/depth frames with radar frames by timestamp and sequence number (the embedded radar_raw_bin paths reflect the original capture machine layout; match on the seq###### suffix to locate the file under radar_data/raw/)

Objects are household items: cans, bottles, cardboard box, olive oil, fire extinguisher, and a trihedral corner reflector.

data/microbench/ — controlled motion primitives

Single objects (corner reflector, soda can) undergoing simple controlled transformations: turntable rotation (both directions), forward/back, right/left, diagonal translation, and a static reference. Per recording:

• rawADC_*.bin — raw DCA1000 ADC capture
• rawIQ_*.mat — the same capture parsed to an IQ array (MATLAB v7.3 / HDF5)

File naming: rawADC_<motion>__<range>__<duration>__lab__<timestamp>.bin

setup_photos/ contains photographs of the linear-rail and turntable capture setups and live micro-Doppler processing during collection.

Radar configuration

TI IWR1843BOOST, 77 GHz FMCW, captured through a DCA1000EVM. Chirp/profile configuration files are included where available; raw .bin frames are 131,072 bytes each in the rover recordings.

License

CC BY 4.0.