| --- |
| 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. |
|
|
