awesome-radar-perception

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A curated list of radar datasets, detection, tracking and fusion. <br>Keep updating.<br>Author: Yi Zhou<br>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

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Contents

Overview

• Review
• Seminars and Workshops

Data Perspective:

• Radar Datasets
• Radar Signature
• Calibration
• Labelling
• Augmentation
• Simulation
• Generative Model
• Testing

Signal Processing:

• Radar Toolbox
• MIMO Calibration
• Detector
• Super Resolution
• Clustering
• Denoising

Applications:

• TI Reference Designs
• Ego-Motion Estimation
• Velocity Estimation
• Depth Estimation
• Object Detection
• Sensor Fusion
• Weakly Supervised
• Tracking
• Prediction
• Occupancy Grid Map
• Open Space Segmentation
• Scene Understanding (Static Segmentation)
• Place Recognition
• Odometry and SLAM
• Automotive SAR
• Human Activity
• Radar-Audio

Challenges:

• Weather Effect
• Multi Path Effect
• Mutual Interference
• Cell Migration
• Tx-Rx Leakage
• Imperfect Waveform Separation <br>

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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

<br>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

<br>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

<br>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

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Radar Toolbox

Simulation

RadarSimPy: Code;<br> Virtual Radar: Code;<br> MaxRay: Paper

TI Signal Processing SDK:

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

Official SDK:

NXP Premium Radar SDK: Link;<br>TI mmWAVE Studio: Link;<br>TI Toolbox: