RadaRays: Real-Time Simulation of Rotating FMCW Radar for Mobile Robotics via Hardware-Accelerated Ray Tracing

RadaRays allows for the accurate modeling and simulation of rotating FMCW radar sensors in complex environments, including the simulation of reflection, refraction, and scattering of radar waves. Our software is able to handle large numbers of objects and materials in real-time, making it suitable f...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:IEEE robotics and automation letters Jg. 10; H. 3; S. 2470 - 2477
Hauptverfasser: Mock, Alexander, Magnusson, Martin, Hertzberg, Joachim
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Piscataway IEEE 01.03.2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Algorithms
collision avoidance
Meteorological radar
Prototyping
Radar
Radar antennas
Radar cross-sections
Radar imaging
Radar scattering
range sensing
Ray tracing
Real time
Real-time systems
Robotics
Robots
Rotation
Sensors
Simulation
Simulation and animation
Simulators
SLAM
software tools for robot programming
Spaceborne radar
Wave reflection
ISSN:2377-3766, 2377-3766
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Abstract RadaRays allows for the accurate modeling and simulation of rotating FMCW radar sensors in complex environments, including the simulation of reflection, refraction, and scattering of radar waves. Our software is able to handle large numbers of objects and materials in real-time, making it suitable for use in a variety of mobile robotics applications. We demonstrate the effectiveness of RadaRays through a series of experiments and show that it can more accurately reproduce the behavior of FMCW radar sensors in a variety of environments, compared to the ray casting-based lidar-like simulations that are commonly used in simulators for autonomous driving such as CARLA. Our experiments additionally serve as a valuable reference point for researchers to evaluate their own radar simulations. By using RadaRays, developers can significantly reduce the time and cost associated with prototyping and testing FMCW radar-based algorithms. We also provide a Gazebo plugin that makes our work accessible to the mobile robotics community.
AbstractList RadaRays allows for the accurate modeling and simulation of rotating FMCW radar sensors in complex environments, including the simulation of reflection, refraction, and scattering of radar waves. Our software is able to handle large numbers of objects and materials in real-time, making it suitable for use in a variety of mobile robotics applications. We demonstrate the effectiveness of RadaRays through a series of experiments and show that it can more accurately reproduce the behavior of FMCW radar sensors in a variety of environments, compared to the ray casting-based lidar-like simulations that are commonly used in simulators for autonomous driving such as CARLA. Our experiments additionally serve as a valuable reference point for researchers to evaluate their own radar simulations. By using RadaRays, developers can significantly reduce the time and cost associated with prototyping and testing FMCW radar-based algorithms. We also provide a Gazebo plugin that makes our work accessible to the mobile robotics community.
Author Magnusson, Martin
Hertzberg, Joachim
Mock, Alexander
Author_xml – sequence: 1
  givenname: Alexander
  orcidid: 0009-0004-7800-9774
  surname: Mock
  fullname: Mock, Alexander
  email: amock@uos.de
  organization: KBS Group of Osnabrück University, Osnabrück, Germany
– sequence: 2
  givenname: Martin
  orcidid: 0000-0001-8658-2985
  surname: Magnusson
  fullname: Magnusson, Martin
  email: martin.magnusson@oru.se
  organization: RNP Lab of the AASS Research Centre, Örebro University, Örebro, Sweden
– sequence: 3
  givenname: Joachim
  orcidid: 0000-0002-6371-9624
  surname: Hertzberg
  fullname: Hertzberg, Joachim
  email: joachim.hertzberg@uos.de
  organization: KBS Group of Osnabrück University, Osnabrück, Germany
BackLink https://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-119270$$DView record from Swedish Publication Index (Örebro universitet)
BookMark eNpNkc1rGzEQxUVJoWmaew89CHpeVx_7IfVm3KQpOBS2bnsUs9IoKKxXrrTb4P--Mg4lh2EG5vcew7y35GKKExLynrMV50x_2vbrlWCiWclG8lbpV-RSyK6rZNe2Fy_mN-Q650fGGG9EJ3VzSaYeHPRwzJ9pjzBWu7BH-iPslxHmECcaPe3jXObpgd7eb37TE5-oj4nexyGMWNZDnIPN9G8AegfJPUHCam0tjphgRlckR7pLYIvHO_Law5jx-rlfkZ-3N7vNXbX9_vXbZr2trFByrpzXqh4cR6clDkpYX2srUCIX3kvWukYIjgDKKQArWl-jUrqpoW1qDtbJK1KdffMTHpbBHFLYQzqaCMF8Cb_WJqaHUovhXIuOFf7jmT-k-GfBPJvHuKSpnGjKQ7lWWuuuUOxM2RRzTuj_-3JmTkGYEoQ5BWGegyiSD2dJQMQXuKobxTr5Dz__hjA
CODEN IRALC6
Cites_doi 10.1109/6668.871186
10.1109/LRA.2021.3052439
10.1109/LRA.2023.3268040
10.1109/ICRA40945.2020.9196884
10.1109/IROS51168.2021.9636253
10.1109/RadarConf2458775.2024.10548974
10.1145/2601097.2601199
10.1109/ICRA48506.2021.9562089
10.1109/JMW.2021.3104722
10.1177/02783649231160195
10.1109/EUMC.2008.4751778
10.1109/ICRA.2019.8793263
10.1109/TGE.1978.294587
10.1109/ICRA40945.2020.9197298
10.1109/IROS58592.2024.10802458
10.1109/ICMIM.2018.8443493
10.1109/SVR.2019.00049
10.1109/LRA.2020.2965907
10.1109/IROS58592.2024.10802360
10.1109/ICRA48506.2021.9562111
10.29007/qm6j
10.1109/LRA.2022.3192885
10.1109/IRC.2018.00059
10.1109/ITSC.2018.8570016
10.5220/0005960200300036
10.1109/TITS.2024.3424984
10.23919/IRS.2017.8008120
10.1109/ICRA40945.2020.9196835
10.5753/svr_estendido.2019.8471
10.1109/IVS.2017.7995697
10.1145/1778765.1778803
10.15607/rss.2021.xvii.029
10.1109/LRA.2022.3186757
10.1109/IROS45743.2020.9341287
10.1109/TRO.2024.3422055
10.1109/TIP.2003.819861
10.1145/357290.357293
10.1109/ICRA40945.2020.9196682
10.1109/ECMR.2019.8870345
10.1007/978-3-030-01370-7_58
10.1109/MITS.2022.3162886
10.1109/ICRA48891.2023.10161388
ContentType Journal Article
Copyright Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2025
Copyright_xml – notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2025
DBID 97E
RIA
RIE
AAYXX
CITATION
7SC
7SP
8FD
JQ2
L7M
L~C
L~D
ADTPV
AOWAS
D91
DOI 10.1109/LRA.2025.3531689
DatabaseName IEEE All-Society Periodicals Package (ASPP) 2005–Present
IEEE All-Society Periodicals Package (ASPP) 1998–Present
IEEE Electronic Library (IEL)
CrossRef
Computer and Information Systems Abstracts
Electronics & Communications Abstracts
Technology Research Database
ProQuest Computer Science Collection
Advanced Technologies Database with Aerospace
Computer and Information Systems Abstracts – Academic
Computer and Information Systems Abstracts Professional
SwePub
SwePub Articles
SWEPUB Örebro universitet
DatabaseTitle CrossRef
Technology Research Database
Computer and Information Systems Abstracts – Academic
Electronics & Communications Abstracts
ProQuest Computer Science Collection
Computer and Information Systems Abstracts
Advanced Technologies Database with Aerospace
Computer and Information Systems Abstracts Professional
DatabaseTitleList
Technology Research Database
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Electronic Library (IEL)
  url: https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
EISSN 2377-3766
EndPage 2477
ExternalDocumentID oai_DiVA_org_oru_119270
10_1109_LRA_2025_3531689
10845807
Genre orig-research
GrantInformation_xml – fundername: Ministry of Science and Culture of Lower Saxony
– fundername: VolkswagenStiftung through DFKI Niedersachsen
GroupedDBID 0R~
97E
AAJGR
AARMG
AASAJ
AAWTH
ABAZT
ABQJQ
ABVLG
ACGFS
AGQYO
AGSQL
AHBIQ
AKJIK
AKQYR
ALMA_UNASSIGNED_HOLDINGS
ATWAV
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
EBS
EJD
IFIPE
IPLJI
JAVBF
KQ8
M43
M~E
O9-
OCL
RIA
RIE
AAYXX
CITATION
7SC
7SP
8FD
JQ2
L7M
L~C
L~D
ADTPV
AOWAS
D91
ID FETCH-LOGICAL-c283t-df984bd1ed93eb82cf49c2e3e12ff306d5221eaa8d8aac26f4e88954a6541acd3
IEDL.DBID RIE
ISICitedReferencesCount 2
ISICitedReferencesURI http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=001411912800005&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN 2377-3766
IngestDate Tue Nov 04 16:53:02 EST 2025
Mon Jun 30 13:01:10 EDT 2025
Sat Nov 29 01:34:42 EST 2025
Wed Aug 27 01:54:53 EDT 2025
IsPeerReviewed true
IsScholarly true
Issue 3
Language English
License https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html
https://doi.org/10.15223/policy-029
https://doi.org/10.15223/policy-037
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-c283t-df984bd1ed93eb82cf49c2e3e12ff306d5221eaa8d8aac26f4e88954a6541acd3
Notes ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ORCID 0009-0004-7800-9774
0000-0001-8658-2985
0000-0002-6371-9624
PQID 3161989997
PQPubID 4437225
PageCount 8
ParticipantIDs proquest_journals_3161989997
swepub_primary_oai_DiVA_org_oru_119270
crossref_primary_10_1109_LRA_2025_3531689
ieee_primary_10845807
PublicationCentury 2000
PublicationDate 2025-03-01
PublicationDateYYYYMMDD 2025-03-01
PublicationDate_xml – month: 03
  year: 2025
  text: 2025-03-01
  day: 01
PublicationDecade 2020
PublicationPlace Piscataway
PublicationPlace_xml – name: Piscataway
PublicationTitle IEEE robotics and automation letters
PublicationTitleAbbrev LRA
PublicationYear 2025
Publisher IEEE
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher_xml – name: IEEE
– name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
References ref13
ref12
ref34
ref15
ref37
ref14
ref36
ref31
ref30
ref11
ref10
ref32
ref2
ref1
ref17
ref16
ref38
ref19
ref18
Hughes (ref39)
Dosovitskiy (ref21) 2017
Walter (ref45) 2007
ref24
ref46
ref23
ref26
ref48
ref25
ref47
ref20
ref42
ref41
ref22
ref44
ref43
ref28
Yilmaz (ref35) 2020
ref29
ref8
Wald (ref33) 2019
ref7
ref9
ref4
ref3
ref6
ref5
Dudek (ref27) 2010
ref40
References_xml – ident: ref1
  doi: 10.1109/6668.871186
– ident: ref5
  doi: 10.1109/LRA.2021.3052439
– ident: ref10
  doi: 10.1109/LRA.2023.3268040
– ident: ref16
  doi: 10.1109/ICRA40945.2020.9196884
– ident: ref6
  doi: 10.1109/IROS51168.2021.9636253
– ident: ref14
  doi: 10.1109/RadarConf2458775.2024.10548974
– ident: ref41
  doi: 10.1145/2601097.2601199
– ident: ref18
  doi: 10.1109/ICRA48506.2021.9562089
– start-page: 1665
  volume-title: Proc. IEEE Asia-Pac. Microwave Conf.
  year: 2010
  ident: ref27
  article-title: Millimeter wave FMCW radar system simulations including a 3D ray tracing channel simulator
– ident: ref36
  doi: 10.1109/JMW.2021.3104722
– start-page: 195
  volume-title: Proc. 18th Eurographics Conf. Rendering Techn.
  year: 2007
  ident: ref45
  article-title: Microfacet models for refraction through rough surfaces
– ident: ref19
  doi: 10.1177/02783649231160195
– ident: ref26
  doi: 10.1109/EUMC.2008.4751778
– ident: ref30
  doi: 10.1109/ICRA.2019.8793263
– start-page: 1
  volume-title: Proc. Eur. Conf. Antennas Propag.
  year: 2019
  ident: ref33
  article-title: Ray tracing for range-Doppler simulation of 77 GHz automotive scenarios
– ident: ref25
  doi: 10.1109/TGE.1978.294587
– ident: ref17
  doi: 10.1109/ICRA40945.2020.9197298
– start-page: 1
  volume-title: Proc. 1st Ann. Conf. Robot Learn.
  year: 2017
  ident: ref21
  article-title: CARLA: An open urban driving simulator
– ident: ref11
  doi: 10.1109/IROS58592.2024.10802458
– ident: ref38
  doi: 10.1109/ICMIM.2018.8443493
– ident: ref22
  doi: 10.1109/SVR.2019.00049
– ident: ref29
  doi: 10.1109/LRA.2020.2965907
– ident: ref43
  doi: 10.1109/IROS58592.2024.10802360
– ident: ref31
  doi: 10.1109/ICRA48506.2021.9562111
– ident: ref34
  doi: 10.29007/qm6j
– ident: ref15
  doi: 10.1109/LRA.2022.3192885
– ident: ref42
  doi: 10.1109/IRC.2018.00059
– ident: ref24
  doi: 10.1109/ITSC.2018.8570016
– ident: ref2
  doi: 10.5220/0005960200300036
– ident: ref20
  doi: 10.1109/TITS.2024.3424984
– ident: ref32
  doi: 10.23919/IRS.2017.8008120
– ident: ref12
  doi: 10.1109/ICRA40945.2020.9196835
– ident: ref23
  doi: 10.5753/svr_estendido.2019.8471
– ident: ref28
  doi: 10.1109/IVS.2017.7995697
– ident: ref37
  doi: 10.1145/1778765.1778803
– ident: ref7
  doi: 10.15607/rss.2021.xvii.029
– ident: ref8
  doi: 10.1109/LRA.2022.3186757
– ident: ref4
  doi: 10.1109/IROS45743.2020.9341287
– year: 2020
  ident: ref35
  article-title: Radar sensor plugin for game engine based autonomous vehicle simulators
– ident: ref46
  doi: 10.1109/TRO.2024.3422055
– ident: ref48
  doi: 10.1109/TIP.2003.819861
– ident: ref44
  doi: 10.1145/357290.357293
– ident: ref13
  doi: 10.1109/ICRA40945.2020.9196682
– ident: ref9
  doi: 10.1109/ECMR.2019.8870345
– start-page: 2013
  volume-title: Computer Graphics: Principles and Practice
  ident: ref39
– ident: ref47
  doi: 10.1007/978-3-030-01370-7_58
– ident: ref3
  doi: 10.1109/MITS.2022.3162886
– ident: ref40
  doi: 10.1109/ICRA48891.2023.10161388
SSID ssj0001527395
Score 2.3174865
Snippet RadaRays allows for the accurate modeling and simulation of rotating FMCW radar sensors in complex environments, including the simulation of reflection,...
SourceID swepub
proquest
crossref
ieee
SourceType Open Access Repository
Aggregation Database
Index Database
Publisher
StartPage 2470
SubjectTerms Algorithms
collision avoidance
Meteorological radar
Prototyping
Radar
Radar antennas
Radar cross-sections
Radar imaging
Radar scattering
range sensing
Ray tracing
Real time
Real-time systems
Robotics
Robots
Rotation
Sensors
Simulation
Simulation and animation
Simulators
SLAM
software tools for robot programming
Spaceborne radar
Wave reflection
Title RadaRays: Real-Time Simulation of Rotating FMCW Radar for Mobile Robotics via Hardware-Accelerated Ray Tracing
URI https://ieeexplore.ieee.org/document/10845807
https://www.proquest.com/docview/3161989997
https://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-119270
Volume 10
WOSCitedRecordID wos001411912800005&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
journalDatabaseRights – providerCode: PRVIEE
  databaseName: IEEE Electronic Library (IEL)
  customDbUrl:
  eissn: 2377-3766
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0001527395
  issn: 2377-3766
  databaseCode: RIE
  dateStart: 20160101
  isFulltext: true
  titleUrlDefault: https://ieeexplore.ieee.org/
  providerName: IEEE
– providerCode: PRVHPJ
  databaseName: ROAD: Directory of Open Access Scholarly Resources
  customDbUrl:
  eissn: 2377-3766
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0001527395
  issn: 2377-3766
  databaseCode: M~E
  dateStart: 20160101
  isFulltext: true
  titleUrlDefault: https://road.issn.org
  providerName: ISSN International Centre
link http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV07T8MwELYAMcDAG1Fe8oCQGFLybGy2CqgY2gqFV7fIsc-oAwnqA8TCb-cuSaEMDAyRIsV2LH9x7rPP9x1jJ4EPQWxCQsAIJ_R04EiNgBgbW-T3LbQYpWR-N-73xWAgb-tg9TIWBgDKw2fQpNvSl28KPaWtMpzhIowExY4vxnGrCtb62VAhKTEZzVyRrjzvJm1cAPpRM4goPZP8ZXrKXCq_aeW8VGhpXjrr_-zYBlureSRvV8BvsgXIt9jqnLrgNssTZVSiPsYXPEE66FC0B78bvtQJu3hheVKQJz5_5p3e5ROn8iOOLJb3igz_Fvg4K0jGmb8NFScf_7sagdPWGm0VSUwYrPLB0dxpbGOHPXSu7y9vnDq9gqORU0wQDinCzHhgZACZ8LUNpUbowPOtxZWEQWrmgVLCCKW037IhCCGjUFHqcKVNsMuW8iKHPcbBuBm0Ak-B74baGmw1Jglk3yIBjEzQYGezkU9fKxWNtFx9uDJFlFJCKa1RarAdGuC5ctXYNtjhDKu0nmfjFGvQoS8p8fFphd93RRLOvho-tlOECq8pvk76sbv_R_sHbIW6UZ0vO2RLk9EUjtiyfpsMx6Njttj7vD4uv7gvZcXU8g
linkProvider IEEE
linkToHtml http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1Nb9QwELWqUolyoAWKWOiHD6gSh7SJ42zs3lalq1bdXVWhQG-WY4_RHkjQfhT13zOTZGF74NBDpEixHcsvzjx7PG8Y-5gKSHMvCQGvIpm4NNIOAfEhD8jv-2gxGsn8UT6ZqLs7fdMFqzexMADQHD6DE7ptfPm-dkvaKsMZrmSmKHb8WSaliNtwrX9bKiQmprOVMzLWp6NigEtAkZ2kGSVo0o-MT5NN5TGxXBcLbQzMcOeJXdtlLzsmyQct9K_YBlSv2Ys1fcE3rCqst4V9mJ_xAglhRPEe_Mv0Z5eyi9eBFzX54qsffDg-_86p_Iwjj-XjusT_BT4uaxJy5vdTy8nL_9vOIBo4h9aKRCY8VnngaPActrHHvg4vbs8voy7BQuSQVSwQEK1k6RPwOoVSCRekdggeJCIEXEt4JGcJWKu8staJfpCglM6kpeTh1vn0Ldus6greMQ4-LqGfJhZELF3w2GpOIsgiIAXMfNpjn1Yjb361OhqmWX_E2iBKhlAyHUo9tkcDvFauHdse219hZbqZNjdYg459aY2Pj1v8_lYk6ezP028Dg1DhtcTXaZHH7__T_hF7fnk7HpnR1eT6A9umLrWnzfbZ5mK2hAO25e4X0_nssPnu_gCTI9cI
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=RadaRays%3A+Real-Time+Simulation+of+Rotating+FMCW+Radar+for+Mobile+Robotics+via+Hardware-Accelerated+Ray+Tracing&rft.jtitle=IEEE+robotics+and+automation+letters&rft.au=Mock%2C+Alexander&rft.au=Magnusson%2C+Martin&rft.au=Hertzberg%2C+Joachim&rft.date=2025-03-01&rft.issn=2377-3766&rft.eissn=2377-3766&rft.volume=10&rft.issue=3&rft.spage=2470&rft.epage=2477&rft_id=info:doi/10.1109%2FLRA.2025.3531689&rft.externalDBID=n%2Fa&rft.externalDocID=10_1109_LRA_2025_3531689
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2377-3766&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2377-3766&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2377-3766&client=summon