A curated list of radar datasets, detection, tracking and fusion.
Keep updating.
Author: Yi Zhou
Contact: zhouyi1023@tju.edu.cn

🚩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 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

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
ZF 4DRadar Dataset	ZF FRGen21 4D	3D		TBD Github
ThermRad	Oculii Eagle	PC	3D	TBD
MSC-RAD4R	Oculii Eagle	PC	SLAM	Website

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. ZF 4DRadar Dataset is 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
Interference Dataset	77GHz	Interference	Website
OSDaR23	Navtech Radar	Rail-specific object detection	Website

Odometry and Localization

Dataset	Radar Type	Task	Link
The Oxford Offroad Radar Dataset	Navtech Spinning Radar	Place Recognition	Website
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
Multi-Person Localization and Vital Sign Estimation Radar Dataset				Dataset

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:

Millimeter-Wave Technology for Automotive Radar Sensors in the 77 GHz Frequency Band
Radar-on-Chip/in-Package in Autonomous Driving Vehicles and Intelligent Transport Systems
Antenna Concepts for Millimeter-Wave Automotive Radar Sensors
System Performance of a 79 GHz High-Resolution 4D Imaging MIMO Radar With 1728 Virtual Channels

Radar Signal Processing:

General: The Rise of Radar for Autonomous Vehicles: Signal Processing Solutions and Future Research Directions
Signal Processing: Automotive Radar Signal Processing: Research Directions and Practical Challenges
Signal Processing: Automotive Radars A review of signal processing techniques
Signal Processing: Advances in Automotive Radar A framework on computationally efficient high-resolution frequency estimation
MIMO: MIMO Radar for Advanced Driver-Assistance Systems and Autonomous Driving: Advantages and Challenges
DOA: Calibration and Direction-of-Arrival Estimation of mm-Wave Radars: A Practical Introduction
Digital Radar: High-Performance Automotive Radar: A Review of Signal Processing Algorithms and Modulation Schemes
Micro-Doppler: Micro-Doppler Effect in Radar: Phenomenon, Model, and Simulation Study
Dynamic Range: Dynamic Range Considerations for Modern Digital Array Radars
Phase Noise: On the Safe Road Toward Autonomous Driving: Phase Noise Monitoring in Radar Sensors for Functional Safety Compliance
Phase Noise: Detailed Analysis and Modeling of Phase Noise and Systematic Phase Distortions in FMCW Radar Systems
Interference: Radar Interference Mitigation for Automated Driving: Exploring Proactive Strategies
Interference: Interference in Automotive Radar Systems: Characteristics, Mitigation Techniques, and Current and Future Research

Automotive Radar Applications:

Detection,Fusion for Autonomous Driving: Towards Deep Radar Perception for Autonomous Driving: Datasets, Methods, and Challenges
Signal Processing: Automotive Radar Signal Processing: Research Directions and Practical Challenges
Interference: Interference Suppression Using Deep Learning: Current Approaches and Open Challenges
Semantic Understanding: Radar for Autonomous Driving – Paradigm Shift from Mere Detection to Semantic Environment Understanding
Radar vs Lidar: Comparative Analysis of Radar and Lidar Technologies for Automotive Applications

Other Radar Applications:

Human Activity Recognition: Deep Learning for Sensor-based Human Activity Recognition: Overview, Challenges, and Opportunities
Gesture: Motion Sensing Using Radar: Gesture Interaction and Beyond
Vital Sign: Contactless Radar-Based Sensors: Recent Advances in Vital-Signs Monitoring of Multiple Subjects
UAV: Radar Perception for Autonomous Unmanned Aerial Vehicles: a Survey

General Object Detection:

3D Object Detection from Images for Autonomous Driving: A Survey
Deep Learning for 3D Point Clouds: A Survey
Attention Mechanisms in Computer Vision: A Survey
A Review and Comparative Study on Probabilistic Object Detection in Autonomous Driving

Sensor Fusion:

Learning: Multi-Modal 3D Object Detection in Autonomous Driving: a Survey
Learning: Deep Multi-Modal Object Detection and Semantic Segmentation for Autonomous Driving: Datasets, Methods, and Challenges
Traditional: Multisensor data fusion: A review of the state-of-the-art
Information: Information Decomposition of Target Effects from Multi-Source Interactions: Perspectives on Previous, Current and FutureWork
Uncertainty: Aleatoric and Epistemic Uncertainty in Machine Learning: An Introduction to Concepts and Methods
Conformal Prediction: A Review and Comparative Study on Probabilistic Object Detection in Autonomous Driving

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

2024-RadSimReal: Bridging the Gap Between Synthetic and Real Data in Radar Object Detection With Simulation CVPR;
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

2024-DART: Implicit Doppler Tomography for Radar Novel View Synthesis CVPR;Paper; Codes
2023-Data-driven Spatial Super-Resolution for FMCW mmWave Sensing Systems Paper
2023-Super-Resolution Radar Imaging with Sparse Arrays Using a Deep Neural Network Trained with Enhanced Virtual Data Paper
2023-Azimuth Super-Resolution for FMCW Radar in Autonomous Driving CVPR; Paper
2023-Self-Supervised Learning for Enhancing Angular Resolution in Automotive MIMO Radars Paper
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

2015-Making Bertha See Even More
2017-Comparison of Random Forest and Long Short-Term Memory Network Performances in Classification Tasks Using Radar
2018-Radar-based Feature Design and Multiclass Classification for Road User Recognition
2019-Radar-based Road User Classification and Novelty Detection with Recurrent Neural Network Ensembles
2020-Off-the-shelf sensor vs. experimental radar - How much resolution is necessary in automotive radar classification
2021-Deep Learning for Automotive Object Classification with Radar Reflections

Object Detection

2024-Bootstrapping Autonomous Radars with Self-Supervised Learning CVPR; Paper
2024-RadarDistill: Boosting Radar-based Object Detection Performance via Knowledge Distillation from LiDAR Features CVPR;
2024-SIRA: Scalable Inter-frame Relation and Association for Radar Perception CVPR;
2023-SMURF: Spatial Multi-Representation Fusion for 3D Object Detection with 4D Imaging Radar VOD; TJ4D; Paper
2023-PeakConv: Learning Peak Receptive Field for Radar Semantic Segmentation CVPR; Paper
2023-Enhanced K-Radar: Optimal Density Reduction to Improve Detection Performance and Accessibility of 4D Radar Tensor-based Object Detection KRadar; Paper
Automotive RADAR sub-sampling via object detection networks: Leveraging prior signal information Oxford; RADIATE; Paper
2022-A recurrent CNN for online object detection on raw radar frames__CARRADA__; ROD; Paper
2022-Radatron: Accurate Detection Using Multi-Resolution Cascaded MIMO Radar ECCV; Paper
2022-Gaussian Radar Transformer for Semantic Segmentation in Noisy Radar Data Segmentation; RadarScenes; RAL; Paper
2022-3D Object Detection for Multi-frame 4D Automotive Millimeter-wave Radar Point Cloud 3DDetection; TJ4D; Paper
2022-mmWave-YOLO: A mmWave Imaging Radar-Based Real-Time Multiclass Object Recognition System for ADAS Applications Paper
2022-NVRadarNet: Real-Time Radar Obstacle and Free Space Detection for Autonomous Driving Paper
2022-ERASE-Net: Efficient Segmentation Networks for Automotive Radar Signals Segmentation;CARRADA; Paper
2022-Raw High-Definition Radar for Multi-Task Learning CVPR; RADIAL; Paper
2022-Exploiting Temporal Relations on Radar Perception for Autonomous Driving CVPR; Oxford; Paper
2022-Deep Instance Segmentation with Automotive Radar Detection Points TIV; Paper
2022-Improved Orientation Estimation and Detection with Hybrid Object Detection Networks for Automotive Radar
2022-HARadNet: Anchor-free target detection for radar point clouds using hierarchical attention and multi-task learning
Radar-PointGNN: Graph Based Object Recognition for Unstructured Radar Point-cloud Data
2021-Radar Voxel Fusion for 3D Object Detection Paper; Code
2021-Quantification of Uncertainties in Deep Learning - based Environment Perception Paper
2021-Graph Convolutional Networks for 3D Object Detection on Radar Data ICCVW; 3DDetection; Paper
2021-High-resolution radar road segmentation using weakly supervised learning Segmentation; Paper Code
2021-Multi-View Radar Semantic Segmentation ICCVW; CARRADA; Segmentation; Paper; Code
2021-RPFA-Net: a 4D RaDAR Pillar Feature Attention Network for 3D Object Detection Paper
2021-Towards Pedestrian Detection in Radar Point Clouds with Pointnets Paper
2021-Semantic Segmentation of Radar Detections using Convolutions on Point Clouds Paper
2021-A Neural Network Based System for Efficient Semantic Segmentation of Radar Point Clouds Paper
2020-Leveraging radar features to improve point clouds segmentation with neural networks Paper
2019-Experiments with mmWave Automotive Radar Test-bed
2019-Vehicle Detection With Automotive Radar Using Deep Learning on Range-Azimuth-Doppler Tensors
2020-CNN Based Road User Detection Using the 3D Radar Cube
2020-RAMP-CNN A Novel Neural Network for Enhanced Automotive Radar Object Recognition
2019-2D Car Detection in Radar Data with PointNets
2020-Detection and Tracking on Automotive Radar Data with Deep Learning
2020-Pointillism Accurate 3D Bounding Box Estimation with Multi-Radars
2020-Radar-based 2D Car Detection Using Deep Neural Networks
2021-Radar Voxel Fusion for 3D Object Detection
2021-Kernel Point Convolution LSTM Networks for Radar Point Cloud Segmentation
2019-Deep Radar Detector
2019-mID Tracking and Identifying People with Millimeter Wave Radar
2020-Improved and Optimal DBSCAN for Embedded Applications Using High-Resolution Automotive Radar
2020-MmWave Radar Point Cloud Segmentation using GMM in Multimodal Traffic Monitoring
2020-Through Fog High Resolution Imaging Using Millimeter Wave Radar
2020-Deep Learning on Radar Centric 3D Object Detection
2021-Radar Transformer An Object Classification Network Based on 4D MMW Imaging Radar
2021-mmPose-NLP A Natural Language Processing Approach to Precise Skeletal Pose Estimation using mmWave Radars

Pre-CFAR Data

Range Azimuth Map

2019-Deep Learning-based Object Classification on Automotive Radar Spectra
2020-Image Segmentation and Region Classification in Automotive High-Resolution Radar Imagery
2020-YOLO-Based Simultaneous Target Detection and Classification in Automotive FMCW Radar Systems
2020-300 GHz radar object recognition based on deep neural networks and transfer learning
2020-2020-Probabilistic Oriented Object Detection in Automotive Radar
2021-Perception Through 2D-MIMO FMCW Automotive Radar Under Adverse Weather
2021-Deep-Learning Based Decentralized Frame-to-Frame Trajectory Prediction Over Binary Range-Angle Maps for Automotive Radars

Range Doppler Map

2018-Single-Frame Vulnerable Road Users Classification with a 77 GHz FMCW Radar Sensor and a Convolutional Neural Network
2018-Moving Target Classification in Automotive Radar Systems Using Convolutional Recurrent Neural Networks
2019-A Study on Radar Target Detection Based on Deep Neural Networks
2020-Object Detection and 3d Estimation Via an FMCW Radar Using a Fully Convolutional Network
2021-Detecting High-Speed Maneuvering Targets by Exploiting Range-Doppler Relationship for LFM Radar
2021-DeepHybrid: Deep Learning on Automotive Radar Spectra and Reflections for Object Classification

ROD2021 Challenge Paper

2021-Radar Object Detection Using Data Merging, Enhancement and Fusion
2021-Squeeze-and-Excitation network-Based Radar Object Detection with Weighted Location Fusion
2021-Scene-aware Learning Network for Radar Object Detection
2021-DANet: Dimension Apart Network for Radar Object Detection
2021-Efficient-ROD: Efficient Radar Object Detection based on Densely Connected Residual Network
2021-ROD2021 Challenge: A Summary for Radar Object Detection Challenge for Autonomous Driving Applications

Sensor Fusion

2024-RCBEVDet: Radar-camera Fusion in Bird’s Eye View for 3D Object Detection CVPR; Paper
2024-Towards Robust 3D Object Detection with LiDAR and 4D Radar Fusion in Various Weather Conditions CVPR;
2024-CRKD: Enhanced Camera-Radar Object Detection with Cross-modality Knowledge Distillation CVPR;
2023-CRN: Camera Radar Net for Accurate, Robust, Efficient 3D Perception nuScenes; Paper
2023-LXL: LiDAR Excluded Lean 3D Object Detection with 4D Imaging Radar and Camera Fusion VOD; CVPR; Paper
2023-RaLiBEV: Radar and LiDAR BEV Fusion Learning for Anchor Box Free Object Detection Systems Paper
2023-Bi-LRFusion: Bi-Directional LiDAR-Radar Fusion for 3D Dynamic Object Detection CVPR; Paper
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
2019-Distant Vehicle Detection Using Radar and Vision
2019-RVNet: Deep Sensor Fusion of Monocular Camera and Radar for Image-based Obstacle Detection in Challenging Environments
2019-Radar and Camera Early Fusion for Vehicle Detection in Advanced Driver Assistance Systems
2019-A Deep Learning-based Radar and Camera Sensor Fusion Architecture for Object Detection
2019-Deep Learning Based 3D Object Detection for Automotive Radar and Camera
2020-YOdar Uncertainty-based Sensor Fusion for Vehicle Detection with Camera and Radar Sensors
2020-Radar+ RGB Fusion For Robust Object Detection In Autonomous Vehicle
2020-Low-level Sensor Fusion for 3D Vehicle Detection using Radar Range-Azimuth Heatmap and Monocular Image
2020-Spatial Attention Fusion for Obstacle Detection Using MmWave Radar and Vision Sensor
2019-RRPN: Radar Region Proposal Network for Object Detection in Autonomous Vehicles
2020-CenterFusion: Center-based Radar and Camera Fusion for 3D Object Detection
2020-Radar-Camera Sensor Fusion for Joint Object Detection and Distance Estimation in Autonomous Vehicles
2020-GRIF Net: Gated Region of Interest Fusion Network for Robust 3D Object Detection from Radar Point Cloud and Monocular Image
2021-milliEye: A Lightweight mmWave Radar and Camera Fusion System for Robust Object Detection
2021-3D Detection and Tracking for On-road Vehicles with a Monovision Camera and Dual Low-cost 4D mmWave Radars
2011-Integrating Millimeter Wave Radar with a Monocular Vision Sensor for On-Road Obstacle Detection Applications
2017-Comparative Analysis of RADAR- IR Sensor Fusion Methods for Object Detection
2019-People Tracking by Cooperative Fusion of RADAR and Camera Sensors
2019-A DNN-LSTM based Target Tracking Approach using mmWave Radar and Camera Sensor Fusion
2020-Autonomous Obstacle Avoidance for UAV based on Fusion of Radar and Monocular Camera
2019-Extending Reliability of mmWave Radar Trackingand Detection via Fusion With Camera
2019-People Tracking by Cooperative Fusion ofRADAR and Camera Sensors
2019-TargetDetection Algorithm Based on MMW Radar and Camera Fusion
2019-A DNN-LSTM based Target Tracking Approachusing mmWave Radar and Camera Sensor Fusion
2020-A Roadside Camera-Radar Sensing Fusion System for Intelligent Transportation
2020-Cooperative Multi-Sensor Tracking of VulnerableRoad Users in the Presence of Missing Detections
2020-Robust Target Detection and Tracking Algorithm Based on Roadside Radar and Camera
2017-Vehicle Tracking Using Extended Object Methods: An Approach for Fusing Radar and Laser
2019-Automated Ground Truth Estimation of Vulnerable Road Users in Automotive Radar Data Using GNSS
2019-Learning to see through haze: Radar-based Human Detection for Adverse Weather Conditions
2020-LiRaNet: End-to-End Trajectory Prediction using Spatio-Temporal Radar Fusion
2020-RadarNet: Exploiting Radar for Robust Perception of Dynamic Objects
2016-Multiple Sensor Fusion and Classification for Moving Object Detection and Tracking
2020-High Dimensional Frustum PointNet for 3D Object Detection from Camera, LiDAR, and Radar
2020-Seeing Through FogWithout Seeing Fog: Deep Multimodal Sensor Fusion in Unseen Adverse Weather
2021-Radar Voxel Fusion for 3D Object Detection

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

2023-Depth Estimation From Camera Image and mmWave Radar Point Cloud CVPR; Paper
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- Deep Learning Method for Cell-Wise Object Tracking, Velocity Estimation and Projection of Sensor Data over Time Paper
2022-Exploiting Temporal Relations on Radar Perception for Autonomous Driving CVPR; Oxford; Attention; Paper
2021-End-to-End On-Line Multi-object Tracking on Sparse Point Clouds Using Recurrent Convolutional Networks 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

2024-TransLoc4D: Transformer-based 4D-Radar Place Recognition CVPR
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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Towards Deep Radar Perception for Autonomous Driving: Datasets, Methods, and Challenges

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

Contents

Radar Datasets

Conventional Radar Datasets for Autonomous Driving

Pre-CFAR Datasets for Detection

4D Radar Datasets

Specific Tasks

Odometry and Localization

Gesture

Human Activity and Reconstruction

Vital Sign

Radar Toolbox

Simulation

TI Signal Processing SDK:

Official SDK:

Data Capturing:

Seminars and Workshops

Review Papers

Recommended Books and Tutorials

Radar Textbook

Online Course

Signal Processing

Waveform Comparison

Quadrature Signal

MIMO

Radar Signature

PointCloud

RCS

Phase

Motion

Polarimetric

Calibration

Radar

Radar-Camera

Radar-Lidar

Radar-Lidar-Camera

Labelling

Data Augmentation

Simulator

Artifacts

Evaluation

Generative Model

Doppler

Testing

MIMO Calibration

Detector

Super Resolution

Clustering

Denoising

TI Reference Designs

Classification of Clusters

Object Detection

Pre-CFAR Data

Range Azimuth Map

Range Doppler Map

ROD2021 Challenge Paper

Sensor Fusion

Weakly Supervised

Depth Estimation

Ego Motion Estimation

Velocity Estimation

Tracking

Neural Network

Bayesian Filtering

Modelling

Prediction

Occupancy Grid Map

Point Cloud Map

Open Space Segmentation

Scene Understanding

Place Recognition

Odometry and SLAM

Odometry