A curated list of radar datasets, detection, tracking and fusion.
Keep updating.
Author: Yi Zhou
Contact: [email protected]
Update some public-available codes, see useful_codes.md
- TI AWR2243
- Arbe Phoenix
- Continental ARS 540
- Oculli Falcon
- Oculli Eagle
- Vayyar
- Astyx (Acquired by Cruise)
- Huawei 4D radar news
- ZF PREMIUM news
- Waymo news
- A list of automotive radar companies link
| Dataset | Affiliation | Dataset Links | Citation |
|---|---|---|---|
| nuScenes | Aptiv | Website; Paper | |
| DENSE | Ulm University | Website; Paper; Github | [1][2] |
| CRUW | University of Washington | Website; Paper; Github | [1][2][3] |
| CARRADA | Valeo | Website; Paper; Github | [1] |
| RaDICaL | UIUC | Website; Papers; Github | [1] |
| RADDet | University of Ottawa | Paper; Github | |
| Hires2019 (4D) | Astyx | Dateset; Paper | [1][2][3][4][5] |
| Radar Scenes | Mercedes-Benz AG | Website; Paper ; Github | [1][2][3][4][5][6][7][8][9][10][11][12][13] |
| HawkEye | UIUC | Website; Github; Paper | |
| PREVENTION | Universidad de Alcalá | Website; Paper | [1][2][3][4] |
| PixSet | Leddar | Website; Paper | |
| AIODrive | CMU | Website; Paper | |
| Zendar SAR | Zendar | Website; Paper; Github |
| Dataset | Affiliation | Links |
|---|---|---|
| Oxford Radar Robocar | University of Oxford | Website; Paper; Github |
| RADIATE | Heriot Watt University | Website; Paper; Github |
| MulRan | KAIST | Website; Paper; Github |
| ColoRadar | University of Colorado Boulder | Website; Paper |
| USVInland | Orca-Tech | Website; Paper |
| SCORP | University of Ottawa | Website; Paper |
| EU Long-term Dataset | UTBM | Website; Paper |
| Endeavour Radar Dataset | Xi’an Jiaotong University | Website; Paper |
| Dataset | Affiliation | Links |
|---|---|---|
| DopNet | UCL | Website; Paper |
| Open Radar Datasets | Norwegian Defence Research Establishment etc. | Paper; Github |
| Radar signatures of human activities | University of Glasgow | Paper; Dataset |
| Solinteraction Data | University of St Andrews | Paper; Github |
| Dataset | Affiliation | Links |
|---|---|---|
| GROUNDED | MIT | Website;Paper |
- Seminar: Automotive Radar – An Overview on State-of-the-Art Technology[Video]
- Seminar: Automotive Radar – A Signal Processing Perspective on Current Technology and Future Systems[Video][Slides]
- 2021 ICRA Radar Perception for All-Weather Autonomy
- 2021 ICASSP Recent Advances in mmWave Radar Sensing for Autonomous Vehicles
- IEEE AESS Virtual Distinguished Lecturer Webinar Series
| Book Title | Author |
|---|---|
| Fundamentals of Radar Signal Processing | Mark A. Richard |
| Radar Systems Analysis and Design using Matlab | Bassem R. Mahafza |
| The Micro-Doppler Effect in Radar | Victor C. Chen |
| Robotic Navigation and Mapping with Radar | Martin Adams etc. |
| Applied State Estimation and Association | C. Bing Chang and Keh-Ping Dunn |
- Introduction to mmwaveSensing: FMCW Radars
- The fundamentals of millimeter wave sensors
- Using a complex-baseband architecture in FMCW radar systems
- MIMO radar
- IEEE Signal Processing Magazine Special Issues
Autonomous Driving Part I Sensing and Perception
Radar Systems for Modern Civilian Applications Part I Part II - Antenna Concepts for Millimeter-Wave Automotive Radar Sensors
- Micro-Doppler Effect in Radar: Phenomenon, Model, and Simulation Study
- Application of Deep Learning on Millimeter-Wave Radar Signals: A Review
- A Comprehensive Survey of Machine Learning Applied to Radar Signal Processing
- Automotive Radar Signal Processing: Research Directions and Practical Challenges
- Millimeter-Wave Technology for Automotive Radar Sensors in the 77 GHz Frequency Band
- Recent Evolution of Automotive ImagingRadar and Its Information content
- MMW Radar-Based Technologies in Autonomous Driving: A Review
- State-of-the-Art Review on Automotive Radars and Passive Radar Reflectors
- Automotive Radars A review of signal processing techniques
- A Review of Recent Advancements Including Machine Learning on Synthetic Aperture Radar using Millimeter-Wave Radar
- Application of Deep Learning on Millimeter-Wave Radar Signal A Review
- A Comprehensive Survey of Machine Learning Applied to Radar Signal Processing
- Object detection for automotive radar point clouds – a comparison
2018-Review of Radar Classification & RCS Characterisation Techniques for Small UAVs or Drones 2021-Machine Learning-Based Target Classification for MMW Radar in Autonomous Driving
- 2017-Radar Reflection Characteristics of Vehicles for Contour and Feature Estimation
- 2018-Radar and Lidar Target Signatures of Various Object Types and Evaluation of Extended Object Tracking Methods for Autonomous Driving Applications
- 2017-A Novel Target-Height Estimation Approach Using Radar-Wave Multipath Propagation for Automotive Applications
- 2018-Automotive Radar Multipath Propagation in Uncertain Environments
- 2018-Analysis of Multipath and DOA Detection Using a Fully Polarimetric Automotive Radar
- 2020-Using Machine Learning to Detect Ghost Images in Automotive Radar
- 2020-Seeing Around Street Corners Non-Line-of-Sight Detection and Tracking In-the-Wild Using Doppler Radar
- 2021-Ghost Target Detection in 3D Radar Data using Point Cloud based Deep Neural Network
- 2006-Micro-Doppler Effect in Radar: Phenomenon, Model, and Simulation Study
- 2020-New Radar Micro-Doppler Tag for Road Safety Based on the Signature of Rotating Backscatters
- 2016-A Polarimetric 76-79 GHz Radar-Frontend for Target Classification in Automotive Use
- 2018-Performance Analysis of 79 GHz Polarimetric Radar Sensors for Autonomous Driving
- 2018-Autonomous Driving Features based on 79 GHz Polarimetric Radar Data
- 2019-Polarimetric Signatures of a Passenger Car
- Diversified Radar Micro-Doppler Simulations as Training Data for Deep Residual Neural Networks
- Measurements revealing Challenges in Radar Sensor Modeling for Virtual Validation of Autonomous Driving
- Virtual Radar: Real-Time Millimeter-Wave Radar Sensor Simulation for Perception-Driven Robotics
- Vid2Doppler: Synthesizing Doppler Radar Data from Videos for Training Privacy-Preserving Activity Recognition
- Scalable and Physical Radar Sensor Simulation for Interacting Digital Twins
- A Multi-Layered Approach for Measuring the Simulation-to-Reality Gap of Radar Perception for Autonomous Driving
- 2017-Deep Stochastic Radar Models
- 2020-GenRadar: Self-supervised Probabilistic Camera Synthesis based on Radar Frequencies
- 2019-Automotive radar and camera fusion using Generative Adversarial Networks
- 2020-L2R GAN: LiDAR-to-Radar Translation
- 2020-There and Back Again: Learning to Simulate Radar Data for Real-World Applications
- Auto-Calibration of Automotive Radars in Operational Mode Using Simultaneous Localisation and Mapping
- Multi-Radar Self-Calibration Method using High-Definition Digital Maps for Autonomous Driving
- Obstacle Detection Using Millimeter-wave Radar and Its Visualization on Image Sequence
- Radar and vision sensors calibration for outdoor 3D reconstruction
- Spatio-Temporal Multisensor Calibration Based on Gaussian Processes Moving Object Tracking
- Targetless Rotational Auto-Calibration of Radar and Camera for Intelligent Transportation Systems
- A Continuous-Time Approach for 3D Radar-to-Camera Extrinsic Calibration
- Extrinsic 6DoF calibration of 3D LiDAR and radar
- Extrinsic and Temporal Calibration of Automotive Radar and 3D LiDAR
- Automatic Targetless Extrinsic Calibration of Multiple 3D LiDARs and Radars
- Extrinsic 6DoF Calibration of a Radar – LiDAR– Camera System Enhanced by Radar Cross Section Estimates Evaluation
- An Joint Extrinsic Calibration Tool for Radar, Camera and Lidar
- Online multi-sensor calibration based on moving object tracking
- 2018-Precise Ego-Motion Estimation with Millimeter-Wave Radar under Diverse and Challenging Conditions
- 2019-An Instantaneous 3D Ego-Velocity Measurement Algorithm for Frequency Modulated Continuous Wave Doppler Radar Data
- 2020-Radar-Inertial Ego-Velocity Estimation for Visually Degraded Environments
- 2020-milliEgo: Single-chip mmWave Aided Egomotion Estimation with Deep Sensor Fusion
- 2016-Potential of Radar for Static Object Classification using Deep Learning Methods
- 2017-Object Classification in Radar Using Ensemble Methods
- 2018-Semantic Segmentation on Radar Point Clouds
- 2019-Scene Understanding With Automotive Radar
- 2019-Road Scene Understanding by Occupancy Grid Learning from Sparse Radar Clusters using Semantic Segmentation
- 2020-Semantic Segmentation on 3D Occupancy Grids for Automotive Radar
- 2020-Deep Open Space Segmentation using Automotive Radar
- 2020-Statistical Image Segmentation and Region Classification Approaches for Automotive Radar
- 2021-PolarNet Accelerated Deep Open Space Segmentation Using Automotive Radar in Polar Domain
- 2019-Probably Unknown Deep Inverse Sensor Modelling Radar
- 2019-Occupancy Grids Generation Using Deep Radar Network for Autonomous Driving
- 2020-Kidnapped Radar Topological Radar Localisation using Rotationally-Invariant Metric Learning
- 2020-RadarSLAM Radar Based Large-Scale SLAM in All Weathers
- 2021-Unsupervised Place Recognition with Deep Embedding Learning over Radar Videos
- 2020-Deep Learning for Autonomous and Driver Assistant Systems
- 2020-A Scalable Framework for Robust Vehicle State Estimation with a Fusion of a Low-Cost IMU, the GNSS, Radar, a Camera and Lidar
- 2020-See Through Smoke: Robust Indoor Mapping with Low-cost mmWave Radar
- 2021-AutoPlace: Robust Place Recognition with Low-cost Single-chip Automotive Radar
- 2021-Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation
- 2021-Cross-Modal Contrastive Learning of Representations for Navigation using Lightweight, Low-Cost Millimeter Wave Radar for Adverse Environmental Conditions
- 2012-Grid-Based DBSCAN for Clustering Extended Objects in Radar Data
- 2016-Adaptive Clustering for Contour Estimation of Vehicles for High-Resolution Radar
- 2018-Supervised Clustering for Radar Applications On the Way to Radar Instance Segmentation
- 2019-A Multi-Stage Clustering Framework for Automotive Radar Data
- 2019-Robust and Adaptive Radar Elliptical Density-Based Spatial Clustering and labeling for mmWave Radar Point Cloud Data
- 2021-Anomaly Detection in Radar Data Using PointNets
- 2021-Fast Rule-Based Clutter Detection in Automotive Radar Data
- 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
- 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 MillimeterWave 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
- 2021-RPFA-Net: a 4D RaDAR Pillar Feature Attention Network for 3D Object Detection
- 2020-High Resolution Radar Dataset for Semi-Supervised Learning of Dynamic Objects
- 2021-MIMO-SAR A Hierarchical High-Resolution Imaging Algorithm for mmWave FMCW Radar in Autonomous Driving
- 2021-Classification Of Automotive Targets Using Inverse Synthetic Aperture Radar Images
- 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
- 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
- 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
- 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
- 2021-Multi-View Radar Semantic Segmentation
- 2021-High-resolution radar road segmentation using weakly supervised learning
- 2021-Graph Convolutional Networks for 3D Object Detection on Radar Data
- 2018-Practical classification of different moving targets using automotive radar and deep neural networks
- 2018-DNN Transfer Learning From Diversified Micro-Doppler for Motion Classification
- 2020-Uncertainty Analysis of Deep Neural Network for Classification of Vulnerable Road Users using micro-Doppler
- 2021-A Bayesian Framework for Integrated Deep Metric Learning and Tracking of Vulnerable Road Users using Automotive Radars
- 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
- 2021-Radar Camera Fusion via Representation Learning in Autonomous Driving
- 2021-Robust Small Object Detection on the Water Surface through Fusion of Camera and MillimeterWave Radar
- 2021-RVDet:Feature-level Fusion of Radar and Camera for Object Detection
- 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-CFTrack: Center-based Radar and Camera Fusion for 3D Multi-Object Tracking
- 2021-3D Detection and Tracking for On-road Vehicles with a Monovision Camera and Dual Low-cost 4D mmWave Radars
- 2020-Radar as a Teacher: Weakly Supervised Vehicle Detection using Radar Labels
- 2021-RODNet: A Real-Time Radar Object Detection Network Cross-Supervised by Camera-Radar Fused Object 3D Localization
- 2020-RSS-Net: Weakly-Supervised Multi-Class Semantic Segmentation with FMCW Radar
- 2020-Warping of Radar Data into Camera Image for Cross-Modal Supervision in Automotive Applications
- 2020-Weakly Supervised Deep Learning Method for Vulnerable Road User Detection in FMCW Radar
- 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
- 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
- 2021-Full-Velocity Radar Returns by Radar-Camera Fusion
- 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
- 2021-Robust Multimodal Vehicle Detection in Foggy Weather Using Complementary Lidar and Radar Signals
- 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
- 2020-Camera-Radar Fusion for 3-D Depth Reconstruction
- 2021-Depth Estimation from Monocular Images and Sparse Radar Data
- 2021-Radar-Camera Pixel Depth Association for Depth Completion
- 2021-R4Dyn: Exploring Radar for Self-Supervised Monocular Depth Estimation of Dynamic Scenes
- 2010-Road Intensity Based Mapping Using Radar Measurements With a Probability Hypothesis Density Filter
- 2015-Tracking of Extended Objects with High-Resolution Doppler Radar
- 2018-Rfcm for Data Association and Multitarget Tracking Using 3D Radar
- 2018-Classification Assisted Tracking for Autonomous Driving Domain
- 2019-Extended Object Tracking assisted Adaptive Clustering for Radar in Autonomous Driving Applications
- 2020-BAAS: Bayesian Tracking and Fusion Assisted Object Annotation of Radar Sensor Data for Artificial Intelligence Application
- 2020-An RLS-Based Instantaneous Velocity Estimator for Extended Radar Tracking
- 2020-Extended Object Tracking Using Hierarchical Truncation Measurement Model with Automotive Radar
- 2020-Extended Object Tracking Using Spatially Resolved Micro-Doppler Signatures
- 2021-A Graph-Based Track-Before-Detect Algorithm for Automotive Radar Target Detection
- 2021-Learning-Based Extended Object Tracking Using Hierarchical Truncation Measurement Model With Automotive Radar
- 2021-Road-Map Aided GM-PHD Filter for Multi-Vehicle Tracking with Automotive Radar
- 2021-Extended Object Tracking assisted Adaptive Multi-Hypothesis Clustering for Radar in Autonomous Driving Domain