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A curated list of radar datasets, detection, tracking and fusion

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A curated list of radar datasets, detection, tracking and fusion.
Keep updating.
Author: Yi Zhou
Contact: [email protected]

🚩I have published a review paper on radar perception. Please see the link below. It is open access. If you find the contents are useful, please cite this paper in your work. I will keep updating this repository for the latest works in the radar perception field.

Towards Deep Radar Perception for Autonomous Driving: Datasets, Methods, and Challenges

The 41-page slides associated with this paper: Link ; Link for China Mainland

Radar perception is getting popular. More and more researchers from computer vision, intelligent vehicle and robotics are starting to enter this field. I hope my review article and this repository can be a good starting point for these newcomers.


Contents

Overview

Data Perspective:

Signal Processing:

Applications:

Challenges:


Radar Datasets

In my review paper, there is a table with more detials.

Conventional Radar Datasets for Autonomous Driving

Dataset Radar Type Data Type Annotation Link
nuScenes Continental ARS408 x5 Sparse PC 3D bbox, TrackID Website
DENSE 77Ghz Long-Range Radar Sparse PC 3D bbox Website
PixSet TI AWR1843 Sparse PC 3D bbox, TrackID Website
Radar Scenes 77GHz Middle-Range Radar x4 Dense PC 2D point-wise, TrackID Website
Pointillism 2 TI AWR 1443 PC 3D bbox Github
Zendar SAR SAR ADC, RD, PC Pointwise Mask of Moving Vehicle Github
Cooperative Radars 77GHz Radar x 3 PC Trajctory from GNSS-RTK Website
aiMotive 77GHz LRR Radar x2(Front and Back) PC 3D bbox, TrackID Website


Comments: nuScenes, DENSE and Pixset are for sensor fusion, but not particularly address the role of radar. Radar scenes provides point-wise annotations for radar point cloud, but has no other modalities. Pointillism uses 2 radars with overlapped view. Zendar seems no longer available for downloading. AiMotive focuses on long-range 360 degree multi-sensor fusion.

Pre-CFAR Datasets for Detection

Dataset Radar Type Data Type Annotation Link
CRUW TI AWR1843 Ultra Short Range RA Pointlevel Object Website
CARRADA TI AWR1843 Short Range RA,RD,RAD Pointwise, 2D bbox, Mask Website
RADDet TI AWR1843 RAD 3D bbox for RAD tensor Github
RaDICaL TI IWR1443 ADC 2D bbox Website
GhentVRU TI AWR1243 Short Range RAD Segmentation Mask for VRUs Paper
RAMP-CNN TI AWR 1843 ADC 2D bbox Website


Comments: CARRADA is captured in clean scenarios, CRUW uses RA maps, RADDet provides annotations for RAD tensor, RADICaL provides raw ADC data and signal processing toolboxes, GhentVRU can be accssed by contacting with authors, ODA is for drones and provides event camera data.

4D Radar Datasets for Detection

Dataset Radar Type Data Type Annotation Link
Astyx Hires2019 Astyx 6455 HiRes Middel Range PC 3D bbox Dateset
View-of-Delft ZF FRGen21 Short Range PC 3D bbox Website
RADIal Valeo Middel Range DDM ADC,RAD,PC Point-level Vehicle; Open Space Mask Github
TJ4DRadSet Oculii Eagle Long Range PC 3D bbox, TrackID Github
K-Radar Macnica RETINA RAD 3D bbox, Track ID Github; OpenReview


Comments: Astyx is small, VoD focuses on VRU classification, RADIal's annotation is coarse but provides raw data, TJ4D features for its long range detection, K-Radar provides RAD tensor and 3D annotations. TJ4D and K-radar are not yet public available.

Specific Tasks

Dataset Radar Type Task Link
HawkEye SAR Static vehicle classification Website
PREVENTION Conti ARS308 + SRR208 x2 Trajectory Prediction Website
SCORP 76GHz Open space segmentation Website
Ghost 77GHz long range *2 Ghost object detection Github
Solinteraction Data Soli Tangible interactions Github
GROUNDED Ground Penetrating Radar Localization Website
FloW Dataset TI AWR1843 Floating waste detection Website
OLIMP UWB + Continental ARS404 Multi-sensor fusion for detection Website
DeepSense 6G Radar+Lidar+Camera+GPS Beam prediction Website
CTA Radar+Camera Interference analysis Website
Radar^2 TI AWR1843 Spy radar detection Website
Darting Pedestrians dataset ZF FRGen21 Short Range Darting pedestrians detection Website
ODA 24GHz Obstacle detection and avoidance for drones Website
Scattering Dataset 77GHz Website
Radar Clutter Dataset 77GHz Clutter detections Website

Odometry and Localization

Dataset Radar Type Task Link
Oxford Radar Robocar Navtech Spinning Radar Odometry, (Detection) Website; Detection Annotation
RADIATE Navtech Spinning Radar Odometry, Detection, Tracking Website
MulRan Navtech Spinning Radar Place Recognition Website
Boreas Navtech Spinning Radar Long-term Odometry, Localization, Detection Website
EU Long-term Dataset Conti ARS 308 Long-term SLAM Website
ColoRadar TI AWR2243 Cascade + AWR1843 Odometry Website
USVInland TI AWR1843 SLAM in inland waterways, Water segmentation Website
Endeavour Radar Dataset Conti ARS 430 x5 Odometry Website
OdomBeyondVision TI AWR1843 Odometry Website

Gesture

Dataset Radar Type Data Type Task Link
DopNet 24GHz Spectrogram Gesture Website
MCD-Gesture 77GHz RAD tensor Gesture Website
DeepSoli 60GHz RD map Gesture Website
Pantomime TI IWR1443 PC Gesture Dataset
MIMOGR RADT Gesutre Website

Human Activity and Reconstruction

Dataset Radar Type Data Type Task Link
Radar signatures of human activities 5.8 GHz ADC Human activities Dataset
Ci4R human activity dataset 77GHz & 24GHz & 10GHz Spectrogram Human activities Website
RadHAR 77GHz Point Cloud Human activities Website
mRI 77GHz PC, RGBD camera, IMU Human pose estimation Website
mmBody Arbe Phoenix 4D Radar PC, RGBD 3D body reconstruction Website
HuPR 2 TI 1843 RAD Pose Github

Vital Sign

Dataset Radar Type Data Type Task Link
Child Vital Sign 60GHz ADC heart beat, respiration Dataset
GUARDIAN Vital Sign 24GHz IQ heart beat, respiration Dataset 1 Dataset 2

Radar Toolbox

Simulation

RadarSimPy: Code;
Virtual Radar: Code;
MaxRay: Paper

TI Signal Processing SDK:

RaDICaL's Toolbox: SDK;
PyRapid: SDK;
OpenRadar : SDK;
Pymmw: SDK;
Open radar initiative: SDK;
RADIal's Emptyband-DDM Script: Code

Official SDK:

NXP Premium Radar SDK: Link;
TI mmWAVE Studio: Link;
TI Toolbox: Link;
Matlab Radar Toolbox: Link

Data Capturing:

TI Radar and Camera in Python:Code;
Ainstein Radar ROS Node: ROS Node;
Continental ARS 408 ROS Node: ROS Node;
TI mmWave ROS Driver: Guide;
RaDICaL's TI ROS Node: ROS Node;
UoA's TI ROS Package: ROS Node

Seminars and Workshops

  • 2021 ICRA Radar Perception for All-Weather Autonomy [Website]

  • 2021 ICASSP Recent Advances in mmWave Radar Sensing for Autonomous Vehicles [Website]

  • Radar in Action Series by Fraunhofer FHR [Video]

  • IEEE AESS Virtual Distinguished Lecturer Webinar Series [Website]

  • Journal of Radar Webinar Series (in Chinese) [Video]

  • Markus Gardill: Automotive Radar – An Overview on State-of-the-Art Technology [Video]

  • Markus Gardill: Automotive Radar – A Signal Processing Perspective on Current Technology and Future Systems [Video][Slides]

  • Francesco Fioranelli: Radar Old but Gold- current research challenges and activities in radar micro-Doppler signatures [Video]

  • Andrej Karpathy from Tesla: [Video]

  • Ole Schumann: Radar Perception for Automated Driving – Data and Methods [Video]

  • Sani Ronen from Arbe: Using AI layer to transform HR radar into insights for Autonomous Driving applications [Video]

  • Stefan Haag: Co-Development of Automatic Annotation for ML and Sensor Fusion Improvement System [Video]

  • Arthur Ouaknine: Deep Learning & Scene Understanding for autonomous vehicle [Video]

  • Paul Newman: The Road to Anywhere-Autonomy [Video]

  • Jaime Lien: Soli: Millimeter-wave radar for touchless interaction [Video]

  • Accelerating end-to-end Development of Software-Defined 4D Imaging Radar [Videp]

  • Radar-Imaging - An Introduction to the Theory Behind [Video]

  • NXP - Radar Experts Discuss the Evolution of Automotive Radar [Video]

  • Need to Successfully Design a Milimeter-Wave Automotive Radar Antenna? [Video]

  • Webinar SAR Imaging using Ancortek’s Software Defined Radars [Video]

  • TI: Managing interference in FMCW radar systems [Video]

Review Papers

Radar Hardware:

Radar Signal Processing:

Automotive Radar Applications:

Other Radar Applications:

General Object Detection:

Sensor Fusion:

Recommended Books and Tutorials

Radar Textbook

  • Fundamentals of Radar Signal Processing by Mark A. Richard
  • Radar Systems Analysis and Design using Matlab by Bassem R. Mahafza

Online Course

Signal Processing

Waveform Comparison

Quadrature Signal

MIMO

Radar Signature

PointCloud

  • 2022-A Data-driven Approach for Stochastic Modeling of Automotive Radar Detections for Extended Objects GeMic; Paper
  • 2020-Performance Evaluation Of Wide Aperture Radar For Automotive Applications RadarConf; 0.1Deg; Paper
  • 2018-Radar and Lidar Target Signatures of Various Object Types and Evaluation of Extended Object Tracking Methods for Autonomous Driving Applications Paper
  • 2017-Radar Reflection Characteristics of Vehicles for Contour and Feature Estimation FUSION; Paper

RCS

  • 2021-Machine Learning-Based Target Classification for MMW Radar in Autonomous Driving Paper
  • 2021-Performance evaluation of a state-of-the-art automotive radar and corresponding modeling approaches based on a large labeled dataset Paper
  • 2021-Open Radar Initiative: Large Scale Dataset for Benchmarking of micro-Doppler Recognition Algorithms RadarConf; Paper
  • 2018-Review of Radar Classification & RCS Characterisation Techniques for Small UAVs or Drones Paper

Phase

  • 2019-Phase-Based Target Classification Using Neural Network in Automotive Radar Systems RadarConf; Paper

Motion

  • 2021-Open Radar Initiative: Large Scale Dataset for Benchmarking of micro-Doppler Recognition Algorithms RadarConf; Paper
  • 2020-New Radar Micro-Doppler Tag for Road Safety Based on the Signature of Rotating Backscatters Paper
  • 2019-Motion sensing using radar: Gesture interaction and beyond Paper

Polarimetric

  • 2019-Polarimetric Signatures of a Passenger Car Paper
  • 2018-Performance Analysis of 79 GHz Polarimetric Radar Sensors for Autonomous Driving Paper
  • 2018-Autonomous Driving Features based on 79 GHz Polarimetric Radar Data Paper

Calibration

Radar

  • 2022-Radar Calibration by Corner Reflectors with Mass-production Errors Paper
  • 2022-A novel method for calibration and verification of road side millimetre-wave radar Paper
  • 2021-Auto-Calibration of Automotive Radars in Operational Mode Using Simultaneous Localisation and Mapping TVT; Paper
  • 2020-Motion Based Online Calibration for 4D Imaging Radar in Autonomous Driving Applications GeMic; Paper
  • 2018-Multi-Radar Self-Calibration Method using High-Definition Digital Maps for Autonomous Driving ITSC; Paper

Radar-Camera

  • 2021-A Continuous-Time Approach for 3D Radar-to-Camera Extrinsic Calibration ICRA; Motion ; Paper
  • 2021-Spatio-Temporal Multisensor Calibration Based on Gaussian Processes Moving Object Tracking ToR; Trajectory ; Paper
  • 2019-Targetless Rotational Auto-Calibration of Radar and Camera for Intelligent Transportation Systems ITSC; NN; Paper
  • 2015-Radar and vision sensors calibration for outdoor 3D reconstruction ICRA; Paper
  • 2004-Obstacle Detection Using Millimeter-wave Radar and Its Visualization on Image Sequence ICPR; Paper

Radar-Lidar

  • 2020-Extrinsic and Temporal Calibration of Automotive Radar and 3D LiDAR IROS; Paper
  • 2020-Automatic Targetless Extrinsic Calibration of Multiple 3D LiDARs and Radars IROS; Paper
  • 2017-Extrinsic 6DoF calibration of 3D LiDAR and radar RCS; Paper

Radar-Lidar-Camera

  • Continuous Target-free Extrinsic Calibration of a Multi-Sensor System from a Sequence of Static Viewpoints Paper
  • 2022-OpenCalib: A multi-sensor calibration toolbox for autonomous driving Paper; Code
  • 2021-An Joint Extrinsic Calibration Tool for Radar, Camera and Lidar TIV; Paper; Code
  • 2021-Online multi-sensor calibration based on moving object tracking Paper
  • 2019-Extrinsic 6DoF Calibration of a Radar – LiDAR– Camera System Enhanced by Radar Cross Section Estimates Evaluation Paper

Labelling

  • 2021-Spatio-Temporal Consistency for Semi-supervised Learning Using 3D Radar Cubes IV; Paper
  • 2021-Automatic labeling of vulnerable road users in multi-sensor data ITSC; Paper
  • 2021-Rethinking of Radar’s Role: A Camera-Radar Dataset and Systematic Annotator via Coordinate Alignment CVPRW; CRUW; Paper
  • 2021-RADDet: Range-Azimuth-Doppler based Radar Object Detection for Dynamic Road Users CRV; RADDet; Paper
  • 2020-CARRADA Dataset: Camera and Automotive Radar with Range-Angle-Doppler Annotations ICPR; CARRADA; Paper
  • 2020-Radar Artifact Labeling Framework (RALF): Method for Plausible Radar Detections in Datasets Paper
  • 2020-Annotating Automotive Radar efficiently: Semantic Radar Labeling Framework (SeRaLF) Paper
  • 2020- RSS-Net: Weakly-Supervised Multi-Class Semantic Segmentation with FMCW Radar IV; Oxford; PoseChain; Paper
  • 2019-Automated Ground Truth Estimation of Vulnerable Road Users in Automotive Radar Data Using GNSS ICMIM; Paper

Data Augmentation

  • 2022-Multi-class Road User Detection with 3+1D Radar in the View-of-Delft Dataset RAL; PC; Paper
  • 2021-Investigation of Uncertainty of Deep Learning-based Object Classification on Radar Spectra RadarConf; RA; Corruption ; Paper
  • 2021-Data Augmentation in Time and Doppler Frequency Domain for Radar-based Gesture Recognition EuRad; Spectrogram; Paper
  • 2020-RAMP-CNN: A Novel Neural Network for Enhanced Automotive Radar Object Recognition RA; Paper
  • 2020-RADIO Parameterized Generative Radar Data Augmentation for Small Datasets RA; Paper
  • 2016-Convolutional Neural Network With Data Augmentation for SAR Target Recognition GRSL; SAR; Paper

Simulator

  • 2021-MaxRay: A Raytracing-based Integrated Sensing and Communication Framework OpenSoucre; Paper
  • 2021-Virtual Radar: Real-Time Millimeter-Wave Radar Sensor Simulation for Perception-Driven Robotics RAL; OpenSoucre; Paper; Code
  • 2020-Scalable and Physical Radar Sensor Simulation for Interacting Digital TwinsPaper

Artifacts

  • 2020-Simulator Design for Interference Analysis in Complex Automotive Multi-User Traffic Scenarios Paper
  • 2019-Modeling and Simulation of Radar Sensor Artifacts for Virtual Testing of Autonomous Driving Paper

Evaluation

  • 2021-Deep Evaluation Metric: Learning to Evaluate Simulated Radar Point Clouds for Virtual Testing of Autonomous Driving RadarConf; Paper
  • 2021-A Multi-Layered Approach for Measuring the Simulation-to-Reality Gap of Radar Perception for Autonomous Driving IV; Paper
  • 2018-Measurements revealing Challenges in Radar Sensor Modeling for Virtual Validation of Autonomous Driving ITSC; Paper

Generative Model

  • 2021-There and Back Again: Learning to Simulate Radar Data for Real-World Applications ICRA; Simulation_to_RA; Categorical_VAE; Paper
  • 2020-L2R GAN: LiDAR-to-Radar Translation ACCV; Lidar_OGM_to_RD; Oxford ;cGAN; Paper
  • 2020-GenRadar: Self-supervised Probabilistic Camera Synthesis based on Radar Frequencies Journal; RD_to_Image; Categorical_VAE; Paper
  • 2019-Automotive radar and camera fusion using Generative Adversarial Networks Journal; Radar_OGM_to_Image; cGAN; Paper
  • 2017-Deep Stochastic Radar Models IV; Scene_to_RA; VAE; Paper

Doppler

  • 2021-IMU2Doppler: Cross-Modal Domain Adaptation for Doppler-based Activity Recognition Using IMU Data IMWUT; IMU; Paper
  • 2021-Vid2Doppler: Synthesizing Doppler Radar Data from Videos for Training Privacy-Preserving Activity Recognition CHI; Video; Paper

Testing

  • 2021-Millimeter-Wave Radar in-the-Loop Testing for Intelligent Vehicles TITS; Paper
  • 2020-On the Testing of Advanced Automotive Radar Sensors by Means of Target Simulators Paper
  • 2017-Surrogate Bicycle Design for Millimeter-Wave Automotive Radar Pre-Collision Testing TITS; Paper

MIMO Calibration

  • 2021-Auto-Calibration of Automotive Radars in Operational Mode Using Simultaneous Localisation and Mapping TVT; Paper
  • 2021-A Practical Concept for Precise Calibration of MIMO Radar Systems EuRAD; Paper

Detector

  • 2022-A Novel Radar Point Cloud Generation Method for Robot Environment Perception Paper
  • 2021-DNN-Based Peak Sequence Classification CFAR Detection Algorithm for High-Resolution FMCW Radar Paper
  • 2020-Object surface estimation from radar images Paper
  • 2020-Deep temporal detection - A machine learning approach to multiple-dwell target detection Paper
  • 2019-DL-CFAR: a Novel CFAR Target Detection Method Based on Deep Learning Paper
  • 2019-Feature Detection With a Constant FAR in Sparse 3-D Point Cloud Data Paper

Super Resolution

  • 2022-A Machine Learning Perspective on Automotive Radar Direction of Arrival Estimation Paper
  • 2020-Radar Image Reconstruction from Raw ADC Data using Parametric Variational Autoencoder with Domain Adaptation Paper

Clustering

  • 2021-Supervised Noise Reduction for Clustering on Automotive 4D Radar Paper
  • 2019-A Multi-Stage Clustering Framework for Automotive Radar Data Paper
  • 2019-Robust and Adaptive Radar Elliptical Density-Based Spatial Clustering and labeling for mmWave Radar Point Cloud Data Paper
  • 2018-Supervised Clustering for Radar Applications On the Way to Radar Instance Segmentation Paper
  • 2016-Adaptive Clustering for Contour Estimation of Vehicles for High-Resolution Radar Paper
  • 2012- Grid-Based DBSCAN for Clustering Extended Objects in Radar Data Paper

Denoising

  • Deep Convolutional Autoencoder Applied for Noise Reduction in Range-Doppler Maps of FMCW Radars
  • Learning from Natural Noise to Denoise Micro-Doppler Spectrogram

TI Reference Designs

  • TIDEP-01027 High-end corner radar reference design AWR2944; Link
  • TIDEP-01025 mmWave diagnostic and monitoring reference design Link
  • TIDEP-01024 Obstacle detection reference design using 76-Ghz to 81-GHz antenna-on-package (AoP) mmWave sensor AWR1843AOP; Link
  • TIDEP-01023 Child-presence and occupant-detection reference design using 60-GHz antenna-on-package mmWave sensor AWR6843AOP; Link
  • TIDEP-01021 Beamsteering for corner radar reference design AWR1843BOOST; Link
  • TIDEP-01018 Automated doors reference design using TI mmWave sensors IWR6843ISK; Link
  • TIDEP-01013 Gesture controlled HMI with mmWave sensors and Sitara™ processors reference design IWR6843ISK; Link
  • TIDEP-01012 Imaging radar using cascaded mmWave sensor reference design AWR2243; Link
  • TIDEP-01011 Automated parking system reference design using 77-GHz mmWave sensor AWR1843; Link
  • TIDEP-01010 Area scanner using mmWave Sensor with integrated antenna-on-package reference design IWR6843; Link
  • TIDEP-0104 Obstacle detection reference design using 77-GHz mmWave sensor AWR1642; Link
  • TIDEP-01006 Autonomous robot reference design using ROS on Sitara™ MPU & antenna-on-package mmWave sensors IWR6843; Link
  • TIDEP-01003 Zone occupancy detection using mmWave sensor reference design IWR1443BOOST; Link
  • TIDEP-01001 Vehicle occupant detection reference design AWR6843; Link
  • TIDEP-01000 People Counting and Tracking Reference Design Using mmWave Radar Sensor IWR6843; Link
  • TIDEP-0094 80m-Range Object Detection Reference Design With Integrated Single-Chip mmWave Sensor IWR1642; Link
  • TIDEP-0092 Short-range radar (SRR) reference design IWR1642; Link
  • TIDEP-0091 Power optimization for 77GHz-level transmitter reference design IWR1443; Link
  • TIDEP-0090 Traffic Monitoring Object Detection and Tracking Reference Design Using mmWave Radar Sensor Link

Classification of Clusters

Object Detection

Pre-CFAR Data

Range Azimuth Map

Range Doppler Map

ROD2021 Challenge Paper

Sensor Fusion

  • 2023-MVFusion: Multi-View 3D Object Detection with Semantic-aligned Radar and Camera Fusion nuScenes; Paper
  • 2022-RADIANT: Radar-Image Association Network for 3D Object Detection AAAI; nuScenes; Paper
  • 2022-Detecting darting out pedestrians with occlusion aware sensor fusion of radar and stereo camera ; TIV; Paper
  • 2022-CramNet: Camera-Radar Fusion with Ray-Constrained Cross-Attention for Robust 3D Object Detection; ECCV; RADIATE; Paper
  • DeepFusion: A Robust and Modular 3D Object Detector for Lidars, Cameras and Radars nuScenes ; Paper
  • 2022-CRAFT: Camera-Radar 3D Object Detection with Spatio-Contextual Fusion Transformer nuScenes ; Paper
  • 2022- Bridging the View Disparity of Radar and Camera Features for Multi-modal Fusion 3D Object Detection BEVFeature; nuScenes ; Paper
  • 2022- RadSegNet: A Reliable Approach to Radar Camera Fusion RADIATE; Paper
  • 2022- HRFuser: A Multi-resolution Sensor Fusion Architecture for 2D Object Detection CrossAttention; nuScenes ; DENSE ; Paper; Code
  • 2022-A Simple Baseline for BEV Perception Without LiDAR BEVFeature; nuScenes ;Paper
  • 2022-Modality-Agnostic Learning for Radar-Lidar Fusion in Vehicle Detection CVPR; TeacherStudent ;Oxford_Foggy; Paper
  • 2022-Global-Local Feature Enhancement Network for Robust Object Detection using mmWave Radar and Camera ICASSP; ROI+Transformer; Paper
  • 2022-Radar Guided Dynamic Visual Attention for Resource-Efficient RGB Object Detection IJCNN; RadarROI; nuScenes ; Paper
  • 2021-RVDet:Feature-level Fusion of Radar and Camera for Object Detection ITSC; BEVFeature ; Fisheye_Camera; Paper
  • 2021-Radar Camera Fusion via Representation Learning in Autonomous Driving; CVPRW; VisualSemantics; Paper; Video
  • 2021-Robust Small Object Detection on the Water Surface through Fusion of Camera and MillimeterWave Radar ICCV; Attention; Paper
  • 2021-Robust Multimodal Vehicle Detection in Foggy Weather Using Complementary Lidar and Radar Signals CVPR; Attention; Oxford_Foggy; Paper; Code
  • 2021-CFTrack: Center-based Radar and Camera Fusion for 3D Multi-Object Tracking IV; CenterFusion+Track; nuScenes; Paper; Video

Radar Camera Fusion

Feature-level Fusion

Region Proposal Based

Decision-level Fusion

Radar Lidar Fusion

Radar Lidar Camera Fusion

Weakly Supervised

  • 2022-A Novel Radar Point Cloud Generation Method for Robot Environment Perception Paper
  • 2022-Look, Radiate, and Learn: Self-supervised Localisation via Radio-Visual Correspondence Arxiv; Simulation; SpatialContrastive; Paper
  • 2021-R4Dyn: Exploring Radar for Self-Supervised Monocular Depth Estimation of Dynamic Scenes 3DIMPVT; nuScenes; SSL; Paper
  • 2021- RODNet: A Real-Time Radar Object Detection Network Cross-Supervised by Camera-Radar Fused Object 3D Localization IJSTSP; CRUW; ConfMap; Paper; Code; Video
  • 2020- RSS-Net: Weakly-Supervised Multi-Class Semantic Segmentation with FMCW Radar IV; Oxford; PoseChain; Paper
  • 2020-Warping of Radar Data into Camera Image for Cross-Modal Supervision in Automotive Applications TVT; Velocity; Paper
  • 2020-Weakly Supervised Deep Learning Method for Vulnerable Road User Detection in FMCW Radar ITSC; Tracking; Paper
  • 2020- Radar as a Teacher: Weakly Supervised Vehicle Detection using Radar Labels ICRA; CoTeaching; Paper

Depth Estimation

  • 2022-RVMDE: Radar Validated Monocular Depth Estimation for Robotics Arxiv; nuScenes Paper; Code
  • 2021-Semantic-guided radar-vision fusion for depth estimation and object detection BMVC; nuScenes; SemanticJoint; Paper
  • 2021-Depth estimation from monocular images and sparse radar using deep ordinal regression network ICIP; nuScenes; DORN ; Paper; Code
  • 2021-R4Dyn: Exploring Radar for Self-Supervised Monocular Depth Estimation of Dynamic Scenes 3DIMPVT; nuScenes; SSL; Paper
  • 2021-Radar-Camera Pixel Depth Association for Depth Completion CVPR; nuScenes; MER ; Paper; Code
  • 2020-Depth Estimation from Monocular Images and Sparse Radar Data IROS; nuScenes; TwoStage; Paper; Code
  • 2020-Camera-Radar Fusion for 3-D Depth Reconstruction IV; RadarRA; Paper; Video

Ego Motion Estimation

  • 2022-A Credible and Robust Approach to Ego-Motion Estimation Using an Automotive Radar RAL; Paper
  • 2021-3D ego-Motion Estimation Using low-Cost mmWave Radars via Radar Velocity Factor for Pose-Graph SLAM ICRA; Paper
  • 2020-milliEgo: Single-chip mmWave Aided Egomotion Estimation with Deep Sensor Fusion SenSys; Paper; Code
  • 2020-Radar-Inertial Ego-Velocity Estimation for Visually Degraded Environments ICRA; Paper
  • 2018-Precise Ego-Motion Estimation with Millimeter-Wave Radar under Diverse and Challenging Conditions ICRA; Paper
  • 2014-Instantaneous Ego-Motion Estimation using Multiple Doppler Radars ICRA; Paper

Velocity Estimation

  • 2023-Hidden Gems: 4D Radar Scene Flow Learning Using Cross-Modal Supervision CVPR; Paper
  • 2022-Self-Supervised Velocity Estimation for Automotive Radar Object Detection Networks nuScenes; Paper
  • 2022-Self-Supervised Scene Flow Estimation with 4D Automotive Radar RAL; 4DRadar; FlowNet; Paper; Code
  • 2021-Full-Velocity Radar Returns by Radar-Camera Fusion ICCV; nuScenes; OpticalFlow; Paper
  • 2021-3D Radar Velocity Maps for Uncertain Dynamic Environments IROS; Bayesian; Paper; Code
  • 2020-An RLS-Based Instantaneous Velocity Estimator for Extended Radar Tracking IROS; Paper
  • 2018- Instantaneous Actual Motion Estimation with a Single High-Resolution Radar Sensor Nonlinear Paper
  • 2014-Instantaneous Full-Motion Estimation of Arbitrary Objects using Dual Doppler Radar DualRadar; Paper
  • 2013-Instantaneous lateral velocity estimation of a vehicle using Doppler radar MultiPts; Paper

Tracking

Neural Network

  • 2022-Exploiting Temporal Relations on Radar Perception for Autonomous Driving CVPR; Oxford; Attention; Paper
  • 2021-CFTrack: Center-based Radar and Camera Fusion for 3D Multi-Object Tracking IV; CenterFusion+Track; nuScenes; Paper; Video

Bayesian Filtering

  • 2021-Road-Map Aided GM-PHD Filter for Multi-Vehicle Tracking with Automotive Radar Paper
  • 2021-Bayesradar: Bayesian Metric-Kalman Filter Learning for Improved and Reliable Radar Target Classification Paper
  • 2021-Extended Object Tracking assisted Adaptive Multi-Hypothesis Clustering for Radar in Autonomous Driving Domain Paper
  • 2021-A Graph-Based Track-Before-Detect Algorithm for Automotive Radar Target Detection Paper
  • 2020-BAAS: Bayesian Tracking and Fusion Assisted Object Annotation of Radar Sensor Data for Artificial Intelligence Application RadarConf; Paper
  • 2020-An RLS-Based Instantaneous Velocity Estimator for Extended Radar Tracking IROS; Paper
  • 2021-Automotive Radar-Based Vehicle Tracking Using Data-Region Association TITS; Paper
  • 2020-Extended Object Tracking Using Spatially Resolved Micro-Doppler Signatures TIV; Paper
  • 2019-Extended Object Tracking assisted Adaptive Clustering for Radar in Autonomous Driving Applications Paper
  • 2018- Rfcm for Data Association and Multitarget Tracking Using 3D Radar ICASSP; Paper
  • 2018-Classification Assisted Tracking for Autonomous Driving Domain Paper
  • 2015-Tracking of Extended Objects with High-Resolution Doppler Radar TITS; Paper
  • 2010-Road Intensity Based Mapping Using Radar Measurements With a Probability Hypothesis Density Filter TSP; Paper

Modelling

  • 2022-A Data-driven Approach for Stochastic Modeling of Automotive Radar Detections for Extended Objects GeMic; Paper
  • 2021-A Multi-Layered Approach for Measuring the Simulation-to-Reality Gap of Radar Perception for Autonomous Driving IV; Paper
  • 2021-Learning-Based Extended Object Tracking Using Hierarchical Truncation Measurement Model With Automotive Radar JSTSP; Paper
  • 2020-Extended Object Tracking Using Hierarchical Truncation Measurement Model with Automotive Radar ICASSP; Paper

Prediction

  • 2021-Predicting Vehicle Behavior Using Automotive Radar and Recurrent Neural Networks Paper
  • 2021-Deep-Learning Based Decentralized Frame-to-Frame Trajectory Prediction Over Binary Range-Angle Maps for Automotive Radars TVT; Paper
  • 2020-LiRaNet: End-to-End Trajectory Prediction using Spatio-Temporal Radar Fusion Paper
  • 2020-FISHING Net: Future Inference of Semantic Heatmaps in Grids Paper

Occupancy Grid Map

  • 2022-Radar Occupancy Prediction With Lidar Supervision While Preserving Long-Range Sensing and Penetrating Capabilities RAL; Paper
  • 2020-See Through Smoke: Robust Indoor Mapping with Low-cost mmWave Radar MobiSys; Paper
  • 2019-Road Scene Understanding by Occupancy Grid Learning from Sparse Radar Clusters using Semantic Segmentation ICCV; Paper
  • 2019- Probably Unknown: Deep Inverse Sensor Modelling Radar ICRA; Paper
  • 2019-Occupancy Grids Generation Using Deep Radar Network for Autonomous Driving ITSC; Paper
  • 2015-Automotive Radar Gridmap Representations Paper

Point Cloud Map

  • 2022-High Resolution Point Clouds from mmWave Radar Paper
  • 2020-Remove, then Revert: Static Point cloud Map Construction using Multiresolution Range Images IROS; Paper

Open Space Segmentation

  • 2022-Raw High-Definition Radar for Multi-Task Learning CVPR; Dataset; Paper
  • 2022-Deformable Radar Polygon: A Lightweight and Predictable Occupancy Representation for Short-range Collision Avoidance Paper
  • 2022-Drivable Region Estimation for Self-Driving Vehicles Using Radar TVT; Paper
  • 2021-PolarNet: Accelerated Deep Open Space Segmentation Using Automotive Radar in Polar Domain Paper
  • 2020-Deep Open Space Segmentation using Automotive Radar Dataset; Paper
  • 2018-High Resolution Radar-based Occupancy Grid Mapping and Free Space Detection Paper

Scene Understanding

  • 2020-Semantic Segmentation on 3D Occupancy Grids for Automotive Radar Paper
  • 2020-Statistical Image Segmentation and Region Classification Approaches for Automotive Radar EuRAD; Paper
  • 2019-Scene Understanding With Automotive Radar TIV; Paper
  • 2018-Semantic Segmentation on Radar Point Clouds FUSION; Paper

Place Recognition

  • 2022-AutoPlace: Robust Place Recognition with Single-chip Automotive Radar ICRA; Paper; Code
  • 2021-Contrastive Learning for Unsupervised Radar Place Recognition Paper
  • 2021-Radar-to-Lidar: Heterogeneous Place Recognition via Joint Learning Paper
  • 2021-Unsupervised Place Recognition with Deep Embedding Learning over Radar Videos Paper
  • 2020-Look Around You: Sequence-based Radar Place Recognition with Learned Rotational Invariance Paper
  • 2020-MulRan Multimodal Range Dataset for Urban Place Recognition ICRA; Dataset; Paper

Odometry and SLAM

Odometry

  • 2022-Radar Odometry on SE(3) with Constant Acceleration Motion Prior and Polar Measurement Model Paper
  • 2022-Fast-MbyM: Leveraging Translational Invariance of the Fourier Transform for Efficient and Accurate Radar Odometry Paper ICRA; Code
  • 2021-Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature Learning Paper
  • 2021-Radar Odometry on SE(3) With Constant Velocity Motion Prior RAL; Paper
  • 2022-What Goes Around: Leveraging a Constant-curvature Motion Constraint in Radar Odometry RAL; Paper
  • 2021-Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation RAL; Paper; Code
  • 2021-A Normal Distribution Transform-Based Radar Odometry Designed For Scanning and Automotive Radars ICRA; Paper
  • 2021-BFAR – Bounded False Alarm Rate detector for improved radar odometry estimation Paper
  • 2021-CFEAR Radarodometry - Conservative Filtering for Efficient and Accurate Radar Odometry IROS; Paper
  • 2021-Continuous-time Radar-inertial Odometry for Automotive Radars IROS; Paper
  • 2021-Oriented surface points for efficient and accurate radar odometry Paper
  • 2020-PhaRaO: Direct Radar Odometry using Phase Correlation ICRA; Paper
  • 2019-Masking by Moving: Learning Distraction-Free Radar Odometry from Pose Information CoRL; Paper

SLAM

  • 2022-CorAl: Introspection for robust radar and lidar perception in diverse environments using differential entropy RAS; Paper
  • 2022-Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization Paper
  • 2021-SERALOC: SLAM on semantically annotated radar point-clouds ITSC; Paper
  • 2021-RaLL: End-to-End Radar Localization on Lidar Map Using Differentiable Measurement Model TITS; Paper
  • 2021-Improved Radar Localization on Lidar Maps Using Shared Embedding Paper
  • 2021-Cross-Modal Contrastive Learning of Representations for Navigation using Lightweight, Low-Cost Millimeter Wave Radar for Adverse Environmental Conditions RAL; Paper
  • 2021-RadarLoc: Learning to Relocalize in FMCW Radar ICRA; Paper
  • 2021-Radar SLAM: A Robust SLAM System for All Weather Conditions Paper
  • 2020-RadarSLAM: Radar based Large-Scale SLAM in All Weathers IROS; Paper
  • 2020-Self-Supervised Localisation between Range Sensors and Overhead Imagery Paper
  • 2020-RSL-Net: Localising in Satellite Images From a Radar on the Ground RAL; Paper
  • 2020-Under the Radar: Learning to Predict Robust Keypoints for Odometry Estimation and Metric Localisation in Radar ICRA; Paper
  • 2020-Radar-on-Lidar: metric radar localization on prior lidar maps Paper
  • 2020-kRadar++: Coarse-to-Fine FMCW Scanning Radar Localisation Paper
  • 2020-Kidnapped Radar: Topological Radar Localisation using Rotationally-Invariant Metric Learning ICRA; Paper
  • 2020-A Scalable Framework for Robust Vehicle State Estimation with a Fusion of a Low-Cost IMU, the GNSS, Radar, a Camera and Lidar IROS; Paper
  • 2005-An Augmented State SLAM formulation for Multiple Line-of-Sight Features with Millimetre Wave RADAR IROS; Paper

Automotive SAR

  • 2022-Synthetic Aperture Radar Imaging of Moving Targets for Automotive Applications EuRAD; Bosch; Paper
  • 2022-Performance Analysis of Automotive SAR With Radar Based Motion Estimation GM; Paper
  • 2022-Residual Motion Compensation in Automotive MIMO SAR Imaging RadarConf; Huawei; Paper
  • 2022-A Quick and Dirty processor for automotive forward SAR imaging RadarConf; Huawei; Paper
  • 2021-Cooperative Synthetic Aperture Radar in an Urban Connected Car Scenario Huawei; Paper
  • 2021-Navigation-Aided Automotive SAR for High-Resolution Imaging of Driving Environments Huawei; Paper
  • 2021-Imaging radar for automated driving functions Continental; Paper
  • 2021-MIMO-SAR: A Hierarchical High-resolution Imaging Algorithm for mmWave FMCW Radar in Autonomous Driving TVT; Paper
  • 2020-3D Point Cloud Generation with Millimeter-Wave Radar Paper
  • 2020-High Resolution Radar Dataset for Semi-Supervised Learning of Dynamic Objects CVPRW; Paper

ISAR

  • 2022-Classification Of Automotive Targets Using Inverse Synthetic Aperture Radar Images Paper
  • 2021-Inverse Synthetic Aperture Radar Imaging: A Historical Perspective and State-of-the-Art Survey Paper

Human Activity Recognition

Pointcloud

  • 2022-Cross Vision-RF Gait Re-identification with Low-cost RGB-D Cameras and mmWave Radars Paper
  • 2022-Tesla-Rapture: A Lightweight Gesture Recognition System from mmWave Radar Sparse Point Clouds TMC; Paper
  • 2021-m-Activity Accurate and Real-Time Human Activity Recognition Via Millimeter Wave Radar ICASSP; Paper
  • 2020-Real-time Arm Gesture Recognition in Smart Home Scenarios via MillimeterWave Sensing Paper
  • 2019-RadHAR: Human Activity Recognition from Point Clouds Generated through a Millimeter-wave Radar Paper

Micro-Doppler

  • 2022-Attention-Based Dual-Stream Vision Transformer for Radar Gait Recognition ICASSP; Paper
  • 2021-Human Motion Recognition With Limited Radar Micro-Doppler Signatures TGRS; Paper
  • 2018-Personnel Recognition and Gait Classification Based on Multistatic Micro-Doppler Signatures Using Deep Convolutional Neural Networks TGRS; Paper

RD

  • 2021-RadarNet: Efficient Gesture Recognition Technique Utilizing a Miniature Radar Sensor CHI; Paper
  • 2016-Interacting with Soli: Exploring Fine-Grained Dynamic Gesture Recognition in the Radio-Frequency Spectrum Paper; Video
  • 2015-Short-Range FMCW Monopulse Radar for Hand-Gesture Sensing RadarConf; Paper

Domain Adaption

  • 2022-Unsupervised Learning for Human Sensing Using Radio Signals WACV; Paper
  • 2022-Unsupervised Domain Adaptation across FMCW Radar Configurations Using Margin Disparity Discrepancy Paper
  • 2022-mTransSee: Enabling Environment-Independent mmWave Sensing Based Gesture Recognition via Transfer Learning Paper
  • 2022-Few-Shot User-Definable Radar-Based Hand Gesture Recognition at the Edge Paper
  • 2021-Towards Domain-Independent and Real-Time Gesture Recognition Using mmWave Signal Paper
  • 2021-Semisupervised Human Activity Recognition With Radar Micro-Doppler Signatures TGRS; Paper
  • 2021-Supervised Domain Adaptation for Few-Shot Radar-Based Human Activity Recognition Paper
  • 2021-Towards Cross-Environment Human Activity Recognition Based on Radar Without Source Data Paper
  • 2021-Continual Learning of Micro-Doppler Signature-Based Human Activity Classification GRSL; Paper

Distributed

  • 2022-Exploiting Radar Data Domains for Classification with Spatially Distributed Nodes Paper

Radar-Audio

Speech Recovery

  • 2022-Wavesdropper: Through-wallWord Detection of Human Speech via Commercial mmWave Devices Paper
  • 2022-Radio2Speech: High Quality Speech Recovery from Radio Frequency Signals Paper
  • 2021-mmPhone: Acoustic Eavesdropping on Loudspeakers via mmWave-characterized Piezoelectric Effect INFOCOM; Paper

Vocal Chord

  • 2022-Multi-target Time-Varying Vocal Folds Vibration Detection Using MIMO FMCW Radar Paper
  • 2021-VocalPrint: A mmWave-based Unmediated Vocal Sensing System for Secure Authentication Paper

Separation

  • 2022-RadioSES: mmWave-Based Audioradio Speech Enhancement and Separation System Paper
  • 2021-Wavoice: A Noise-resistant Multi-modal Speech Recognition System Fusing mmWave and Audio Signals SenSys; Paper

Weather Effects

Effect

  • The Impact of Adverse Weather Conditions on Autonomous Vehicles: How Rain, Snow, Fog, and Hail Affect the Performance of a Self-Driving Car Paper
  • Seeing through dust and water vapor: Millimeter wave radar sensors for mining applications Paper
  • Analysis of rain clutter detections in commercial 77 GHz automotive radar Paper
  • The Perception System of Intelligent Ground Vehicles in All Weather Conditions: A Systematic Literature Review Paper
  • Testing and Validation of Automotive Point-Cloud Sensors in Adverse Weather Conditions Paper
  • Object Detection Under Rainy Conditions for Autonomous Vehicles: A Review of State-of-the-Art and Emerging Techniques Paper
  • Testing and Validation of Automotive Point-Cloud Sensors in Adverse Weather Conditions Paper
  • What Happens for a ToF LiDAR in Fog? Paper

Datasets

  • Oxford Foggy Code
  • DENSE
  • RADIATE
  • Boreas
  • K-Radar
    See the dataset section for details.

Methods

  • 2022-Modality-Agnostic Learning for Radar-Lidar Fusion in Vehicle Detection Paper
  • 2021-Robust Multimodal Vehicle Detection in Foggy Weather Using Complementary Lidar and Radar Signals Paper
  • 2020-Seeing Through Fog Without Seeing Fog: Deep Multimodal Sensor Fusion in Unseen Adverse Weather Paper; Code; Video
  • 2020-Through Fog High Resolution Imaging Using Millimeter Wave Radar Paper; Code; Video

Multi-Path Effect

Dataset

  • 2021-The Radar Ghost Dataset – An Evaluation of Ghost Objects in Automotive Radar Data Paper; Code

Methods

  • 2021-Anomaly Detection in Radar Data Using PointNets Paper
  • 2021-Fast Rule-Based Clutter Detection in Automotive Radar Data Paper
  • 2021-Radar Ghost Target Detection via Multimodal Transformers Paper
  • 2021-Ghost Target Detection in 3D Radar Data using Point Cloud based Deep Neural Network Paper
  • 2020- Using Machine Learning to Detect Ghost Images in Automotive Radar Paper
  • 2020-Seeing Around Street Corners Non-Line-of-Sight Detection and Tracking In-the-Wild Using Doppler Radar Paper
  • 2019-Identification of Ghost Moving Detections in Automotive Scenarios with Deep Learning Paper
  • 2018-Automotive Radar Multipath Propagation in Uncertain Environments Paper

Mutual Interference

Methods

  • 2022-A Two-stage DNN Model with Mask-gated Convolution for Automotive Radar Interference Detection and Mitigation Paper
  • 2021-Resource-Efficient Deep Neural Networks for Automotive Radar Interference Mitigation Paper
  • 2021-A DNN Autoencoder for Automotive Radar Interference Mitigation Paper
  • 2021-CFAR-Based Interference Mitigation for FMCW Automotive Radar Systems Paper
  • 2021-Mutual Interference Suppression Using Wavelet Denoising in Automotive FMCW Radar Systems Paper
  • 2020-Interference Characterization in FMCW radars Paper
  • 2020-Deep Interference Mitigation and Denoising of Real-World FMCW Radar Signals Paper; Video
  • 2019-Complex Signal Denoising and Interference Mitigation for Automotive Radar Using Convolutional Neural Networks Paper
  • 2018-A Deep Learning Approach for Automotive Radar Interference Mitigation Paper

Reviews

  • 2022-Interference Suppression Using Deep Learning: Current Approaches and Open Challenges Paper
  • 2020-Radar Interference Mitigation for Automated Driving: Exploring proactive strategies Paper
  • 2020-Interference in Automotive Radar Systems Characteristics, mitigation techniques, and current and future research Paper

Range and Doppler Cell Migration

  • 2021-Doppler–Range Processing for Enhanced High-Speed Moving Target Detection Using LFMCW Automotive Radar Paper
  • 2019-Range and Doppler Cell Migration in Wideband Automotive Radar Paper

Tx-Rx Leakage

  • 2022-Mitigation of Leakage and Stationary Clutters in Short-Range FMCW Radar With Hybrid Analog and Digital Compensation Technique Paper
  • 2019-The Effect of Antenna Mutual Coupling on MIMO Radar System Performance Paper

Imperfect Waveform Separation

  • 2020-Slow-Time MIMO-FMCW Automotive Radar Detection with Imperfect Waveform Separation Paper

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A curated list of radar datasets, detection, tracking and fusion

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