Published May 23, 2025 © GPL3+

Generate Range-Doppler Map on DeepCraft

This project demonstrates the basic method to convert the raw radar stream from the PSOC6 AI Kit using DeepCraft Studio into Range-Doppler.

BeginnerShowcase (no instructions)30 minutes121

Things used in this project

Hardware components

Infineon PSOC™ 6 AI Evaluation Kit (CY8CKIT-062S2-AI)

Software apps and online services

Infineon DEEPCRAFT™ Studio

Story

Basics

A Range-Doppler Map (RDM) is a 2D representation of radar data that encodes the range and velocity of detected targets. It is generated by analyzing the frequency and phase shifts in the reflected radar signals. The horizontal axis corresponds to range (distance from the radar), while the vertical axis corresponds to Doppler velocity (relative radial speed).

Hardware

PSOC6 AI kit contains BGT60TR13C XENSIV™ 60GHz radar containing 1 Transmitter and 3 receivers.

Prerequisites

Before beginning the process, ensure the streaming protocol is installed and running on your microcontroller. Please follow the tutorial for guidance.

Steps

Create a new project in DeepCraft.

New Project

Add Radar node and select Micro Presence as "Use Case".

Add radar node

The radar input is of shape 1x16x128 from 1 receiver, 16 chirps per frame, and 128 samples per chirp.
First, we would remove the DC component from the chirps by subtracting the mean across axis 0.

removing DC component

Next, we will compute the "Real Discrete Fourier Transform" along the range axis after applying the "hamming smoothing" for better detection.

FFT along range

Since the previous transform gives us results in complex form, we can apply the "Complex Discrete Fourier Transform" along the velocity axis (the slow axis). Additionally, we may use "Hamming smoothing" and apply an "FFT shift" to center the zero velocity.

FFT along velocity

Now calculate the power and convert to decibels reshape and visualize, you can optionally scale and shift for better visualization.

Visualiztion

Result (Micro Presence)

We can also use the "Gesture" use case and get the data from all 3 receivers with slight modifications

Use Case: Gesture

Different receivers will have varying gains due to slight changes in angles to the obstacle, resulting in dots of different colors as we utilize RGB channels, with one channel assigned to each receiver.

I am currently unable to remove the artefact on top of the RD plot.

Result (Gesture)

Graph File

<?xml version="1.0" encoding="utf-8" standalone="yes"?>
<Imaginet version="2.0.0.0">
  <Compound unit="d419d86b-7b57-41d3-9a74-ab428f13a213">
    <Nodes>
      <UnitNode id="node_1" x="412.50509490527224" y="55.743527854541014" enabled="true" unit="Imaginet.Units.Math.Average" ></UnitNode>
      <DeviceNode id="node_0" x="59.295060045077946" y="-106.25505956254062" enabled="true" name="Radar" board="290de5cb-460b-41bf-31cb-8c042222aff5" boardName="PSOC 6 AI (CY8CKIT-06S2-AI)" device="4">
        <Int32Argument param="use case_1">1</Int32Argument>
      </DeviceNode>
      <UnitNode id="node_10" x="1796.4218638963712" y="139.54997509970917" enabled="true" unit="Imaginet.Units.Math.Select">
        <Int32Argument param="axis">2</Int32Argument>
        <Int32Argument param="count">1</Int32Argument>
      </UnitNode>
      <UnitNode id="node_5" x="1067.2654544801446" y="1.8754924381765647" enabled="true" unit="Imaginet.Units.Signal.RealFft" ></UnitNode>
      <UnitNode id="node_6" x="1281.8446690671922" y="-169.9742693899201" enabled="true" unit="Imaginet.Units.Signal.Hamming">
        <Int32Argument param="axis">2</Int32Argument>
        <BooleanArgument param="sym">false</BooleanArgument>
      </UnitNode>
      <UnitNode id="node_13" x="1809.5193045784415" y="354.39774768803966" enabled="true" unit="Imaginet.Units.Math.Select">
        <Int32Argument param="axis">2</Int32Argument>
        <Int32Argument param="count">1</Int32Argument>
        <Int32Argument param="index">1</Int32Argument>
      </UnitNode>
      <UnitNode id="node_11" x="2084.2231326717006" y="140.7756904498317" enabled="true" unit="Imaginet.Units.Math.Reshape">
        <ShapeArgument param="shape">[32,33,1]</ShapeArgument>
      </UnitNode>
      <UnitNode id="node_3" x="385.9479494270624" y="-169.99220871024485" enabled="true" unit="Imaginet.Units.Math.Reshape">
        <ShapeArgument param="shape">[3,32,1]</ShapeArgument>
      </UnitNode>
      <UnitNode id="node_15" x="1813.7937065785945" y="546.134627386465" enabled="true" unit="Imaginet.Units.Math.Select">
        <Int32Argument param="axis">2</Int32Argument>
        <Int32Argument param="count">1</Int32Argument>
        <Int32Argument param="index">2</Int32Argument>
      </UnitNode>
      <UnitNode id="node_18" x="2809.6515817469476" y="117.66139622365677" enabled="true" name="Concatenate Video" unit="ImagimobStudio.Modules.LiveVideoTrack" ></UnitNode>
      <UnitNode id="node_8" x="1695.836129826645" y="-196.61570413886102" enabled="true" unit="Imaginet.Units.Math.Norm" ></UnitNode>
      <UnitNode id="node_2" x="732.518697917704" y="-138.12363413639272" enabled="true" unit="Imaginet.Units.Math.Sub" ></UnitNode>
      <UnitNode id="node_4" x="940.2911391705254" y="-155.4681050357423" enabled="true" unit="Imaginet.Units.Signal.Hamming">
        <BooleanArgument param="sym">false</BooleanArgument>
      </UnitNode>
      <UnitNode id="node_17" x="2508.3507707922786" y="201.79084343827208" enabled="true" unit="Imaginet.Units.Math.Concat" ></UnitNode>
      <UnitNode id="node_7" x="1422.827279425822" y="-14.398440035421658" enabled="true" unit="Imaginet.Units.Signal.Fft">
        <Int32Argument param="axis">2</Int32Argument>
      </UnitNode>
      <UnitNode id="node_14" x="2113.33396798852" y="349.75396672086333" enabled="true" unit="Imaginet.Units.Math.Reshape">
        <ShapeArgument param="shape">[32,33,1]</ShapeArgument>
      </UnitNode>
      <UnitNode id="node_9" x="1888.3481171208405" y="-75.04955273018174" enabled="true" unit="Imaginet.Units.Signal.PowToDb" ></UnitNode>
      <UnitNode id="node_12" x="2516.9293246367183" y="442.81946139161676" enabled="true" unit="Imaginet.Units.Math.Concat" ></UnitNode>
      <UnitNode id="node_16" x="2101.594975353924" y="547.3603427365875" enabled="true" unit="Imaginet.Units.Math.Reshape">
        <ShapeArgument param="shape">[32,33,1]</ShapeArgument>
      </UnitNode>
    </Nodes>
    <Connections>
      <Connection>
        <Source node="node_0" param="Radar" ></Source>
        <Target node="node_1" param="input" ></Target>
      </Connection>
      <Connection>
        <Source node="node_1" param="output" ></Source>
        <Target node="node_3" param="input" ></Target>
      </Connection>
      <Connection>
        <Source node="node_3" param="output" ></Source>
        <Target node="node_2" param="b" ></Target>
      </Connection>
      <Connection>
        <Source node="node_0" param="Radar" ></Source>
        <Target node="node_2" param="a" ></Target>
      </Connection>
      <Connection>
        <Source node="node_2" param="output" ></Source>
        <Target node="node_4" param="input" ></Target>
      </Connection>
      <Connection>
        <Source node="node_4" param="output" ></Source>
        <Target node="node_5" param="input" ></Target>
      </Connection>
      <Connection>
        <Source node="node_5" param="output" ></Source>
        <Target node="node_6" param="input" ></Target>
      </Connection>
      <Connection>
        <Source node="node_6" param="output" ></Source>
        <Target node="node_7" param="input" ></Target>
      </Connection>
      <Connection>
        <Source node="node_7" param="output" ></Source>
        <Target node="node_8" param="input" ></Target>
      </Connection>
      <Connection>
        <Source node="node_8" param="output" ></Source>
        <Target node="node_9" param="input" ></Target>
      </Connection>
      <Connection>
        <Source node="node_9" param="output" ></Source>
        <Target node="node_10" param="input" ></Target>
      </Connection>
      <Connection>
        <Source node="node_9" param="output" ></Source>
        <Target node="node_13" param="input" ></Target>
      </Connection>
      <Connection>
        <Source node="node_9" param="output" ></Source>
        <Target node="node_15" param="input" ></Target>
      </Connection>
      <Connection>
        <Source node="node_10" param="output" ></Source>
        <Target node="node_11" param="input" ></Target>
      </Connection>
      <Connection>
        <Source node="node_13" param="output" ></Source>
        <Target node="node_14" param="input" ></Target>
      </Connection>
      <Connection>
        <Source node="node_15" param="output" ></Source>
        <Target node="node_16" param="input" ></Target>
      </Connection>
      <Connection>
        <Source node="node_11" param="output" ></Source>
        <Target node="node_17" param="i0" ></Target>
      </Connection>
      <Connection>
        <Source node="node_14" param="output" ></Source>
        <Target node="node_17" param="i1" ></Target>
      </Connection>
      <Connection>
        <Source node="node_17" param="output" ></Source>
        <Target node="node_12" param="i0" ></Target>
      </Connection>
      <Connection>
        <Source node="node_16" param="output" ></Source>
        <Target node="node_12" param="i1" ></Target>
      </Connection>
      <Connection>
        <Source node="node_12" param="output" ></Source>
        <Target node="node_18" param="data" ></Target>
      </Connection>
    </Connections>
  </Compound>
</Imaginet>

Credits

Rishabh Verma

2 projects • 3 followers

Electronics and Communication Engineer

Generate Range-Doppler Map on DeepCraft

Things used in this project

Hardware components

Software apps and online services

Story

Basics

Hardware

Prerequisites

Steps

Code

Graph File

Credits

Rishabh Verma

Comments

Embed the widget on your own site

Generate Range-Doppler Map on DeepCraft

Generate Range-Doppler Map on DeepCraft

Things used in this project

Hardware components

Software apps and online services

Story

Basics

Hardware

Prerequisites

Steps

Code

Graph File

Credits

Rishabh Verma

Comments

Related channels and tags