Demo Abstract: C-Shenron: A Realistic Radar Simulation Framework for CARLA

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Pushkal Mishra, Satyam Srivastava, Jerry Li, Kshitiz Bansal, Dinesh Bharadia

Published: 2025, Last Modified: 13 Nov 2025SenSys 2025EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: The advancement of self-driving technology is driven by the need for robust and efficient perception systems along with frameworks for End-to-End testing, enabled by the CARLA simulator. We introduce C-Shenron, a novel integration of a realistic radar sensor model within CARLA, enabling researchers to develop and test navigation algorithms using radar data. It is the first realistic radar simulator which utilizes LiDAR and camera sensors to generate high-fidelity radar ADC measurements from physics based modeling of the environment. Utilizing this radar sensor and showcasing its capabilities in simulation, we demonstrate improved performance in end-to-end driving scenarios. Our setup aims to rekindle the interest in radar-based self-driving research and promote the development of algorithms that leverages its strengths.