# GenRadar: Self-supervised Probabilistic Camera Synthesis based on Radar Frequencies

arXiv: https://arxiv.org/abs/2107.08948 · HTML: https://mlsanity.com/paper/2107.08948/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 49 of its 91 references that are in the map.
- First posted on arXiv 19 Jul 2021.

## Builds on (most cited first, 30 of 49)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift](https://mlsanity.com/paper/1502.03167/) (2015)
- [Layer Normalization](https://mlsanity.com/paper/1607.06450/) (2016)
- [Rethinking the Inception Architecture for Computer Vision](https://mlsanity.com/paper/1512.00567/) (2015)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [RoFormer: Enhanced Transformer with Rotary Position Embedding](https://mlsanity.com/paper/2104.09864/) (2021)
- [Neural Discrete Representation Learning](https://mlsanity.com/paper/1711.00937/) (2017)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Zero-Shot Text-to-Image Generation](https://mlsanity.com/paper/2102.12092/) (2021)
- [Delving Deep into Rectifiers: Surpassing Human-Level Performance on ImageNet Classification](https://mlsanity.com/paper/1502.01852/) (2015)
- [Gaussian Error Linear Units (GELUs)](https://mlsanity.com/paper/1606.08415/) (2016)
- [Taming Transformers for High-Resolution Image Synthesis](https://mlsanity.com/paper/2012.09841/) (2020)
- [Improved Techniques for Training GANs](https://mlsanity.com/paper/1606.03498/) (2016)
- [The Curious Case of Neural Text Degeneration](https://mlsanity.com/paper/1904.09751/) (2019)
- [Categorical Reparameterization with Gumbel-Softmax](https://mlsanity.com/paper/1611.01144/) (2016)
- [Estimating or Propagating Gradients Through Stochastic Neurons for Conditional Computation](https://mlsanity.com/paper/1308.3432/) (2013)
- [The Concrete Distribution: A Continuous Relaxation of Discrete Random Variables](https://mlsanity.com/paper/1611.00712/) (2016)
- [An Introduction to Variational Autoencoders](https://mlsanity.com/paper/1906.02691/) (2019)
- [When Does Label Smoothing Help?](https://mlsanity.com/paper/1906.02629/) (2019)
- [Generating Sentences from a Continuous Space](https://mlsanity.com/paper/1511.06349/) (2015)
- [Semi-Supervised Learning with Deep Generative Models](https://mlsanity.com/paper/1406.5298/) (2014)
- [Tutorial on Variational Autoencoders](https://mlsanity.com/paper/1606.05908/) (2016)
- [Making Convolutional Networks Shift-Invariant Again](https://mlsanity.com/paper/1904.11486/) (2019)
- [A guide to convolution arithmetic for deep learning](https://mlsanity.com/paper/1603.07285/) (2016)
- [A* Sampling](https://mlsanity.com/paper/1411.0030/) (2014)

## Abstract (arXiv)

Autonomous systems require a continuous and dependable environment perception for navigation and decision-making, which is best achieved by combining different sensor types. Radar continues to function robustly in compromised circumstances in which cameras become impaired, guaranteeing a steady inflow of information. Yet, camera images provide a more intuitive and readily applicable impression of the world. This work combines the complementary strengths of both sensor types in a unique self-learning fusion approach for a probabilistic scene reconstruction in adverse surrounding conditions. After reducing the memory requirements of both high-dimensional measurements through a decoupled stochastic self-supervised compression technique, the proposed algorithm exploits similarities and establishes correspondences between both domains at different feature levels during training. Then, at inference time, relying exclusively on radio frequencies, the model successively predicts camera constituents in an autoregressive and self-contained process. These discrete tokens are finally transformed back into an instructive view of the respective surrounding, allowing to visually perceive potential dangers for important tasks downstream.