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TJ4DRadSet: A 4D Radar Dataset for Autonomous Driving

arXiv 2204.13483 ↗First posted 28 Apr 2022cs.CV cs.AIcited by 75

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Abstract (arXiv)

The next-generation high-resolution automotive radar (4D radar) can provide additional elevation measurement and denser point clouds, which has great potential for 3D sensing in autonomous driving. In this paper, we introduce a dataset named TJ4DRadSet with 4D radar points for autonomous driving research. The dataset was collected in various driving scenarios, with a total of 7757 synchronized frames in 44 consecutive sequences, which are well annotated with 3D bounding boxes and track ids. We provide a 4D radar-based 3D object detection baseline for our dataset to demonstrate the effectiveness of deep learning methods for 4D radar point clouds. The dataset can be accessed via the following link: https://github.com/TJRadarLab/TJ4DRadSet.

Key facts. Cited by 75 papers in the map (data through 14 Oct 2026). Builds on 8 of its 19 references that are in the map. First posted on arXiv 28 Apr 2022.

Builds on

8 of 19 references.

References · 8

  1. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  2. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  3. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,451
  4. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,715
  5. 2019The Oxford Radar RobotCar Dataset: A Radar Extension to the Oxford RobotCar Datasetcited by 134
  6. 2020RADIATE: A Radar Dataset for Automotive Perception in Bad Weathercited by 100
  7. 2021Raw High-Definition Radar for Multi-Task Learningcited by 69
  8. 2021RadarScenes: A Real-World Radar Point Cloud Data Set for Automotive Applicationscited by 61

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 16; 2024: 20; 2025: 21; 2026: 18.

75 papers.

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  1. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 66
  2. 2023Radar-Camera Fusion for Object Detection and Semantic Segmentation in Autonomous Driving: A Comprehensive Reviewcited by 58
  3. 2023LXL: LiDAR Excluded Lean 3D Object Detection with 4D Imaging Radar and Camera Fusioncited by 58
  4. 2023SMURF: Spatial Multi-Representation Fusion for 3D Object Detection with 4D Imaging Radarcited by 49
  5. 2023WaterScenes: A Multi-Task 4D Radar-Camera Fusion Dataset and Benchmarks for Autonomous Driving on Water Surfacescited by 35
  6. 2024RadarOcc: Robust 3D Occupancy Prediction with 4D Imaging Radarcited by 33
  7. 2023Dual Radar: A Multi-modal Dataset with Dual 4D Radar for Autonomous Drivingcited by 32
  8. 2024BEVCar: Camera-Radar Fusion for BEV Map and Object Segmentationcited by 27
  9. 2024OmniHD-Scenes: A Next-Generation Multimodal Dataset for Autonomous Drivingcited by 27
  10. 2023Grid-Centric Traffic Scenario Perception for Autonomous Driving: A Comprehensive Reviewcited by 25
  11. 2023Echoes Beyond Points: Unleashing the Power of Raw Radar Data in Multi-modality Fusioncited by 25
  12. 2023Exploring Radar Data Representations in Autonomous Driving: A Comprehensive Reviewcited by 22
38 more
  1. 2025Doracamom: Joint 3D Detection and Occupancy Prediction with Multi-view 4D Radars and Cameras for Omnidirectional Perceptioncited by 22
  2. 2023MVFAN: Multi-View Feature Assisted Network for 4D Radar Object Detectioncited by 20
  3. 2024DPFT: Dual Perspective Fusion Transformer for Camera-Radar-based Object Detectioncited by 19
  4. 2023NTU4DRadLM: 4D Radar-centric Multi-Modal Dataset for Localization and Mappingcited by 17
  5. 2024MSSF: A 4D Radar and Camera Fusion Framework With Multi-Stage Sampling for 3D Object Detection in Autonomous Drivingcited by 14
  6. 2024HGSFusion: Radar-Camera Fusion with Hybrid Generation and Synchronization for 3D Object Detectioncited by 14
  7. 2024MUFASA: Multi-View Fusion and Adaptation Network with Spatial Awareness for Radar Object Detectioncited by 13
  8. 2023RTNH+: Enhanced 4D Radar Object Detection Network using Combined CFAR-based Two-level Preprocessing and Vertical Encodingcited by 9
  9. 2024Radar and Camera Fusion for Object Detection and Tracking: A Comprehensive Surveycited by 9
  10. 2025RaGS: Unleashing 3D Gaussian Splatting from 4D Radar and Monocular Cues for 3D Object Detectioncited by 9
  11. 2023Reviewing 3D Object Detectors in the Context of High-Resolution 3+1D Radarcited by 8
  12. 2025Collaborative Perception Datasets for Autonomous Driving: A Reviewcited by 8
  13. 2024Bosch Street Dataset: A Multi-Modal Dataset with Imaging Radar for Automated Drivingcited by 7
  14. 2024UniBEVFusion: Unified Radar-Vision BEVFusion for 3D Object Detectioncited by 7
  15. 2025R2LDM: An Efficient 4D Radar Super-Resolution Framework Leveraging Diffusion Modelcited by 7
  16. 2024Efficient 4D Radar Data Auto-labeling Method using LiDAR-based Object Detection Networkcited by 6
  17. 2025MutualForce: Mutual-Aware Enhancement for 4D Radar-LiDAR 3D Object Detectioncited by 6
  18. 2025DoppDrive: Doppler-Driven Temporal Aggregation for Improved Radar Object Detectioncited by 6
  19. 2024RIDERS: Radar-Infrared Depth Estimation for Robust Sensingcited by 5
  20. 2025HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAMcited by 5
  21. 2023Achelous++: Power-Oriented Water-Surface Panoptic Perception Framework on Edge Devices based on Vision-Radar Fusion and Pruning of Heterogeneous Modalitiescited by 4
  22. 20244D Radar Semantic Segmentation of People in Field Conditions Using Temporal Multi-View Networkscited by 4
  23. 2024SIRA: Scalable Inter-frame Relation and Association for Radar Perceptioncited by 4
  24. 2025MITO: A Millimeter-Wave Dataset and Simulator for Non-Line-of-Sight Perceptioncited by 4
  25. 20254D mmWave Radar for Sensing Enhancement in Adverse Environments: Advances and Challengescited by 4
  26. 2025USVTrack: USV-Based 4D Radar-Camera Tracking Dataset for Autonomous Driving in Inland Waterwayscited by 4
  27. 2025Wavelet-based Multi-View Fusion of 4D Radar Tensor and Camera for Robust 3D Object Detectioncited by 4
  28. 2026SD4R: Sparse-to-Dense Learning for 3D Object Detection with 4D Radarcited by 4
  29. 2024A Survey of Deep Learning Based Radar and Vision Fusion for 3D Object Detection in Autonomous Drivingcited by 3
  30. 2024LEROjD: Lidar Extended Radar-Only Object Detectioncited by 3
  31. 2025RadarGaussianDet3D: Gaussian Representation-based Real-time 3D Object Detection with 4D Automotive Radarscited by 3
  32. 2026HyperDet: 3D Object Detection with Hyper 4D Radar Point Cloudscited by 3
  33. 2026DSERT-RoLL: Robust Multi-Modal Perception for Diverse Driving Conditions with Stereo Event-RGB-Thermal Cameras, 4D Radar, and Dual-LiDARcited by 3
  34. 2023RC-BEVFusion: A Plug-In Module for Radar-Camera Bird's Eye View Feature Fusioncited by 2
  35. 2024Boosting Online 3D Multi-Object Tracking through Camera-Radar Cross Checkcited by 2
  36. 2024Exploring Domain Shift on Radar-Based 3D Object Detection Amidst Diverse Environmental Conditionscited by 2
  37. 2025SpikingRTNH: Spiking Neural Network for 4D Radar Object Detectioncited by 2
  38. 2025SFGFusion: Surface Fitting Guided 3D Object Detection with 4D Radar and Camera Fusioncited by 2

50 most cited of 75 All 75 (JSON)