# Simulating Automotive Radar with Lidar and Camera Inputs

arXiv: https://arxiv.org/abs/2503.08068 · HTML: https://mlsanity.com/paper/2503.08068/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 7 of its 22 references that are in the map.
- First posted on arXiv 11 Mar 2025.

## Builds on (most cited first, 7 of 7)

- [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)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [TJ4DRadSet: A 4D Radar Dataset for Autonomous Driving](https://mlsanity.com/paper/2204.13483/) (2022)
- [A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics](https://mlsanity.com/paper/2305.01135/) (2023)
- [M3SC: A Generic Dataset for Mixed Multi-Modal (MMM) Sensing and Communication Integration](https://mlsanity.com/paper/2306.14125/) (2023)

## Built on by (most cited first, 1 of 1)

- [RadarGen: Automotive Radar Point Cloud Generation from Cameras](https://mlsanity.com/paper/2512.17897/) (2025)

## Abstract (arXiv)

Low-cost millimeter automotive radar has received more and more attention due to its ability to handle adverse weather and lighting conditions in autonomous driving. However, the lack of quality datasets hinders research and development. We report a new method that is able to simulate 4D millimeter wave radar signals including pitch, yaw, range, and Doppler velocity along with radar signal strength (RSS) using camera image, light detection and ranging (lidar) point cloud, and ego-velocity. The method is based on two new neural networks: 1) DIS-Net, which estimates the spatial distribution and number of radar signals, and 2) RSS-Net, which predicts the RSS of the signal based on appearance and geometric information. We have implemented and tested our method using open datasets from 3 different models of commercial automotive radar. The experimental results show that our method can successfully generate high-fidelity radar signals. Moreover, we have trained a popular object detection neural network with data augmented by our synthesized radar. The network outperforms the counterpart trained only on raw radar data, a promising result to facilitate future radar-based research and development.