mlsanityData to 14 Oct 2026

RADDet: Range-Azimuth-Doppler based Radar Object Detection for Dynamic Road Users

arXiv 2105.00363 ↗First posted 2 May 2021cs.CV eess.SPcited by 52

Not on the map. Why?

Abstract (arXiv)

Object detection using automotive radars has not been explored with deep learning models in comparison to the camera based approaches. This can be attributed to the lack of public radar datasets. In this paper, we collect a novel radar dataset that contains radar data in the form of Range-Azimuth-Doppler tensors along with the bounding boxes on the tensor for dynamic road users, category labels, and 2D bounding boxes on the Cartesian Bird-Eye-View range map. To build the dataset, we propose an instance-wise auto-annotation method. Furthermore, a novel Range-Azimuth-Doppler based multi-class object detection deep learning model is proposed. The algorithm is a one-stage anchor-based detector that generates both 3D bounding boxes and 2D bounding boxes on Range-Azimuth-Doppler and Cartesian domains, respectively. Our proposed algorithm achieves 56.3% AP with IOU of 0.3 on 3D bounding box predictions, and 51.6% with IOU of 0.5 on 2D bounding box prediction. Our dataset and the code can be found at https://github.com/ZhangAoCanada/RADDet.git.

Key facts. Cited by 52 papers in the map (data through 14 Oct 2026). Builds on 18 of its 30 references that are in the map. First posted on arXiv 2 May 2021.

Builds on

18 of 30 references.

References · 18

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  3. 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,713
  4. 2014Very Deep Convolutional Networks for Large-Scale Image Recognitioncited by 15,364
  5. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,639
  6. 2017Mask R-CNNcited by 7,277
  7. 2015Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shiftcited by 7,005
  8. 2014Fully Convolutional Networks for Semantic Segmentationcited by 4,859
  9. 2015You Only Look Once: Unified, Real-Time Object Detectioncited by 4,852
  10. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  11. 2015SSD: Single Shot MultiBox Detectorcited by 3,130
  12. 2020YOLOv4: Optimal Speed and Accuracy of Object Detectioncited by 1,630
6 more
  1. 2019FCOS: Fully Convolutional One-Stage Object Detectioncited by 1,577
  2. 2018Attention U-Net: Learning Where to Look for the Pancreascited by 1,435
  3. 2018Self-Attention Generative Adversarial Networkscited by 809
  4. 2020CNN based Road User Detection using the 3D Radar Cubecited by 47
  5. 2020Probabilistic Oriented Object Detection in Automotive Radarcited by 27
  6. 2019Deep Radar Detectorcited by 22

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 2; 2022: 5; 2023: 12; 2024: 12; 2025: 10; 2026: 11.

52 papers.

Sort:

By area:

  1. 2022K-Radar: 4D Radar Object Detection for Autonomous Driving in Various Weather Conditionscited by 108
  2. 2021Raw High-Definition Radar for Multi-Task Learningcited by 69
  3. 2023Radar-Camera Fusion for Object Detection and Semantic Segmentation in Autonomous Driving: A Comprehensive Reviewcited by 58
  4. 2023SMURF: Spatial Multi-Representation Fusion for 3D Object Detection with 4D Imaging Radarcited by 49
  5. 2024RadarOcc: Robust 3D Occupancy Prediction with 4D Imaging Radarcited by 33
  6. 2023Echoes Beyond Points: Unleashing the Power of Raw Radar Data in Multi-modality Fusioncited by 25
  7. 2023T-FFTRadNet: Object Detection with Swin Vision Transformers from Raw ADC Radar Signalscited by 24
  8. 2023Exploring Radar Data Representations in Autonomous Driving: A Comprehensive Reviewcited by 22
  9. 2024DPFT: Dual Perspective Fusion Transformer for Camera-Radar-based Object Detectioncited by 19
  10. 2024RadSimReal: Bridging the Gap Between Synthetic and Real Data in Radar Object Detection With Simulationcited by 14
  11. 2023Robust 3D Object Detection from LiDAR-Radar Point Clouds via Cross-Modal Feature Augmentationcited by 12
  12. 2022A recurrent CNN for online object detection on raw radar framescited by 9
38 more
  1. 2023TransRadar: Adaptive-Directional Transformer for Real-Time Multi-View Radar Semantic Segmentationcited by 9
  2. 2023Bootstrapping Autonomous Driving Radars with Self-Supervised Learningcited by 9
  3. 2024Radar and Camera Fusion for Object Detection and Tracking: A Comprehensive Surveycited by 9
  4. 2024Radar Spectra-Language Model for Automotive Scene Parsingcited by 6
  5. 2025DoppDrive: Doppler-Driven Temporal Aggregation for Improved Radar Object Detectioncited by 6
  6. 2025Towards Foundational Models for Single-Chip Radarcited by 6
  7. 2024SparseRadNet: Sparse Perception Neural Network on Subsampled Radar Datacited by 5
  8. 2023Vision meets mmWave Radar: 3D Object Perception Benchmark for Autonomous Drivingcited by 4
  9. 20244D Radar Semantic Segmentation of People in Field Conditions Using Temporal Multi-View Networkscited by 4
  10. 2024SIRA: Scalable Inter-frame Relation and Association for Radar Perceptioncited by 4
  11. 2025Wavelet-based Multi-View Fusion of 4D Radar Tensor and Camera for Robust 3D Object Detectioncited by 4
  12. 2022Look, Radiate, and Learn: Self-Supervised Localisation via Radio-Visual Correspondencecited by 3
  13. 2023RadarFormer: Lightweight and Accurate Real-Time Radar Object Detection Modelcited by 3
  14. 2025AttentiveGRU: Recurrent Spatio-Temporal Modeling for Advanced Radar-Based BEV Object Detectioncited by 3
  15. 2026DSERT-RoLL: Robust Multi-Modal Perception for Diverse Driving Conditions with Stereo Event-RGB-Thermal Cameras, 4D Radar, and Dual-LiDARcited by 3
  16. 2022ERASE-Net: Efficient Segmentation Networks for Automotive Radar Signalscited by 2
  17. 2024BoostRad: Enhancing Object Detection by Boosting Radar Reflectionscited by 2
  18. 2025Controllable Radar Simulation with Waveform Parameter Embeddingcited by 2
  19. 2025RLM: A Vision-Language Model Approach for Radar Scene Understandingcited by 2
  20. 2026RadarSim: Simulating Single-Chip Radar via Multimodal Neural Fieldscited by 2
  21. 2022Deep learning for radar data exploitation of autonomous vehiclecited by 1
  22. 2023ThermRad: A Multi-modal Dataset for Robust 3D Object Detection under Challenging Conditionscited by 1
  23. 2024Leveraging Self-Supervised Instance Contrastive Learning for Radar Object Detectioncited by 1
  24. 2024A Resource Efficient Fusion Network for Object Detection in Bird's-Eye View using Camera and Raw Radar Datacited by 1
  25. 2025RadarNeXt: Real-Time and Reliable 3D Object Detector Based On 4D mmWave Imaging Radarcited by 1
  26. 2025Depth-aware Fusion Method based on Image and 4D Radar Spectrum for 3D Object Detectioncited by 1
  27. 2026Weather-Robust Scene Semantics with Vision-Aligned 4D Radarcited by 1
  28. 2021GenRadar: Self-supervised Probabilistic Camera Synthesis based on Radar Frequenciescited by 0
  29. 2023Histogram-based Deep Learning for Automotive Radarcited by 0
  30. 2024A Generative Adversarial Network-based Method for LiDAR-Assisted Radar Image Enhancementcited by 0
  31. 2025mRadNet: A Compact Radar Object Detector with MetaFormercited by 0
  32. 2025Radar-Camera Fused Multi-Object Tracking: Online Calibration and Common Featurecited by 0
  33. 2026Synthetic FMCW Radar Range Azimuth Maps Augmentation with Generative Diffusion Modelcited by 0
  34. 2026Leveraging Transformer Decoder for Automotive Radar Object Detectioncited by 0
  35. 2026AdaRadar: Rate Adaptive Spectral Compression for Radar-based Perceptioncited by 0
  36. 2026On Learning Spatial Structure from Pre-Beamforming Per-Antenna Range-Doppler Radar Measurementscited by 0
  37. 2026DinoRADE: Full Spectral Radar-Camera Fusion with Vision Foundation Model Features for Multi-class Object Detection in Adverse Weathercited by 0
  38. 2026Revisiting Radar Perception With Spectral Point Cloudscited by 0

50 most cited of 52 All 52 (JSON)