Software & Data Downloads — REXO

multi-view Radar object dEtection with 3D bounding boX diffusiOn for taking multi-view radar heatmaps as input and estimates 3D bounding boxes (BBox) of human objects.

This sofeware contains the PyTorch implementation of REXO (multi-view Radar object dEtection with 3D bounding boX diffusiOn), a radar-based pipeline that takes multi-view radar heatmaps as input and estimates 3D bounding boxes (BBox) of human objects.

REXO operates a BBox diffusion process directly in the 3D radar space and utilizes these noisy 3D BBoxes to guide an explicit cross-view radar feature association. At each diffusion timestep, these noisy 3D BBoxes are projected into every radar view, where RoI-aligned feature cropping extracts view-specific radar features. These multi-view-associated radar features are then aggregated to condition the 3D BBox denoising process. The denoised 3D BBoxes are transformed into the 3D camera coordinate system and projected onto the 2D image plane.