mlsanityData to 7 Oct 2026

RadarScenes: A Real-World Radar Point Cloud Data Set for Automotive Applications

arXiv 2104.02493 ↗First posted 6 Apr 2021cs.LGcited by 61

Not on the map. Why?

Abstract (arXiv)

A new automotive radar data set with measurements and point-wise annotations from more than four hours of driving is presented. Data provided by four series radar sensors mounted on one test vehicle were recorded and the individual detections of dynamic objects were manually grouped to clusters and labeled afterwards. The purpose of this data set is to enable the development of novel (machine learning-based) radar perception algorithms with the focus on moving road users. Images of the recorded sequences were captured using a documentary camera. For the evaluation of future object detection and classification algorithms, proposals for score calculation are made so that researchers can evaluate their algorithms on a common basis. Additional information as well as download instructions can be found on the website of the data set: www.radar-scenes.com.

Key facts. Cited by 61 papers in the map (data through 7 Oct 2026). Builds on 13 of its 27 references that are in the map. First posted on arXiv 6 Apr 2021.

Builds on

13 of 27 references.

References · 13

  1. 2017Mask R-CNNcited by 7,259
  2. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  3. 2016The Cityscapes Dataset for Semantic Urban Scene Understandingcited by 4,427
  4. 2019The Oxford Radar RobotCar Dataset: A Radar Extension to the Oxford RobotCar Datasetcited by 133
  5. 2020RADIATE: A Radar Dataset for Automotive Perception in Bad Weathercited by 98
  6. 2020CARRADA Dataset: Camera and Automotive Radar with Range-Angle-Doppler Annotationscited by 60
  7. 2018The EuroCity Persons Dataset: A Novel Benchmark for Object Detectioncited by 56
  8. 2020CNN based Road User Detection using the 3D Radar Cubecited by 47
  9. 2019Seeing Around Street Corners: Non-Line-of-Sight Detection and Tracking In-the-Wild Using Doppler Radarcited by 40
  10. 2020Off-the-shelf sensor vs. experimental radar -- How much resolution is necessary in automotive radar classification?cited by 10
  11. 2020Multi-Person Continuous Tracking and Identification from mm-Wave micro-Doppler Signaturescited by 8
  12. 2019Radar-based Road User Classification and Novelty Detection with Recurrent Neural Network Ensemblescited by 6
1 more
  1. 2019Automated Ground Truth Estimation For Automotive Radar Tracking Applications With Portable GNSS And IMU Devicescited by 3

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 2; 2022: 6; 2023: 16; 2024: 16; 2025: 7; 2026: 14.

61 papers.

Sort:

By area:

  1. 2022TJ4DRadSet: A 4D Radar Dataset for Autonomous Drivingcited by 74
  2. 2021Raw High-Definition Radar for Multi-Task Learningcited by 69
  3. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  4. 2023Radar-Camera Fusion for Object Detection and Semantic Segmentation in Autonomous Driving: A Comprehensive Reviewcited by 57
  5. 2024MAN TruckScenes: A multimodal dataset for autonomous trucking in diverse conditionscited by 41
  6. 2023Dual Radar: A Multi-modal Dataset with Dual 4D Radar for Autonomous Drivingcited by 32
  7. 2023MVFusion: Multi-View 3D Object Detection with Semantic-aligned Radar and Camera Fusioncited by 29
  8. 2023Echoes Beyond Points: Unleashing the Power of Raw Radar Data in Multi-modality Fusioncited by 25
  9. 2023RadarGNN: Transformation Invariant Graph Neural Network for Radar-based Perceptioncited by 24
  10. 2021Deep Instance Segmentation with Automotive Radar Detection Pointscited by 22
  11. 2022Exploiting Temporal Relations on Radar Perception for Autonomous Drivingcited by 22
  12. 2023Exploring Radar Data Representations in Autonomous Driving: A Comprehensive Reviewcited by 22
38 more
  1. 2024DPFT: Dual Perspective Fusion Transformer for Camera-Radar-based Object Detectioncited by 19
  2. 2022Gaussian Radar Transformer for Semantic Segmentation in Noisy Radar Datacited by 15
  3. 2023A Survey on Approximate Edge AI for Energy Efficient Autonomous Driving Servicescited by 14
  4. 2022Contrastive Learning for Automotive mmWave Radar Detection Points Based Instance Segmentationcited by 12
  5. 2022Ad-datasets: a meta-collection of data sets for autonomous drivingcited by 11
  6. 2023Radars for Autonomous Driving: A Review of Deep Learning Methods and Challengescited by 10
  7. 2024MMVR: Millimeter-wave Multi-View Radar Dataset and Benchmark for Indoor Perceptioncited by 10
  8. 2023Radar Instance Transformer: Reliable Moving Instance Segmentation in Sparse Radar Point Cloudscited by 9
  9. 2023TransRadar: Adaptive-Directional Transformer for Real-Time Multi-View Radar Semantic Segmentationcited by 9
  10. 2024Radar and Camera Fusion for Object Detection and Tracking: A Comprehensive Surveycited by 9
  11. 2023Reviewing 3D Object Detectors in the Context of High-Resolution 3+1D Radarcited by 8
  12. 2023Tackling Clutter in Radar Data -- Label Generation and Detection Using PointNet++cited by 7
  13. 2024Bosch Street Dataset: A Multi-Modal Dataset with Imaging Radar for Automated Drivingcited by 7
  14. 2024RIDERS: Radar-Infrared Depth Estimation for Robust Sensingcited by 5
  15. 2024Vulnerable Road User Detection and Safety Enhancement: A Comprehensive Surveycited by 5
  16. 2025A Survey of Multi-sensor Fusion Perception for Embodied AI: Background, Methods, Challenges and Prospectscited by 5
  17. 20244D Radar Semantic Segmentation of People in Field Conditions Using Temporal Multi-View Networkscited by 4
  18. 2023RadarFormer: Lightweight and Accurate Real-Time Radar Object Detection Modelcited by 3
  19. 2022ERASE-Net: Efficient Segmentation Networks for Automotive Radar Signalscited by 2
  20. 2024BoostRad: Enhancing Object Detection by Boosting Radar Reflectionscited by 2
  21. 2024A Survey of Deep Learning Based Radar and Vision Fusion for 3D Object Detection in Autonomous Drivingcited by 2
  22. 2024Boosting Online 3D Multi-Object Tracking through Camera-Radar Cross Checkcited by 2
  23. 2024Edge Case Detection in Automated Driving: Methods, Challenges, and Future Directionscited by 2
  24. 2025RQR3D: Reparametrizing the regression targets for BEV-based 3D object detectioncited by 2
  25. 2025Radar Tracker: Moving Instance Tracking in Sparse and Noisy Radar Point Cloudscited by 2
  26. 2025Radar Velocity Transformer: Single-scan Moving Object Segmentation in Noisy Radar Point Cloudscited by 2
  27. 2025SemRaFiner: Panoptic Segmentation in Sparse and Noisy Radar Point Cloudscited by 2
  28. 2026DSERT-RoLL: Robust Multi-Modal Perception for Diverse Driving Conditions with Stereo Event-RGB-Thermal Cameras, 4D Radar, and Dual-LiDARcited by 2
  29. 2023ThermRad: A Multi-modal Dataset for Robust 3D Object Detection under Challenging Conditionscited by 1
  30. 2023Cross-Dataset Experimental Study of Radar-Camera Fusion in Bird's-Eye Viewcited by 1
  31. 2024Redefining Automotive Radar Imaging: A Domain-Informed 1D Deep Learning Approach for High-Resolution and Efficient Performancecited by 1
  32. 2025Redefining Radar Segmentation: Simultaneous Static-Moving Segmentation and Ego-Motion Estimation using Radar Point Cloudscited by 1
  33. 2026RailVQA: A Benchmark and Framework for Efficient Interpretable Visual Cognition in Automatic Train Operationcited by 1
  34. 2026Rad-R: A Raw-ADC Radar Dataset and Capture-Invariant SSM for Hardware-Fault Diagnosiscited by 1
  35. 2023Simultaneous Clutter Detection and Semantic Segmentation of Moving Objects for Automotive Radar Datacited by 0
  36. 2024Generative Adversarial Synthesis of Radar Point Cloud Scenescited by 0
  37. 2024Performance Evaluation of Deep Learning-Based State Estimation: A Comparative Study of KalmanNetcited by 0
  38. 2025Self-Supervised Moving Object Segmentation of Sparse and Noisy Radar Point Cloudscited by 0

50 most cited of 61 All 61 (JSON)