mlsanityData to 7 Oct 2026

RaTrack: Moving Object Detection and Tracking with 4D Radar Point Cloud

arXiv 2309.09737 ↗First posted 18 Sep 2023cs.CV cs.AI cs.LGcited by 21

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Abstract (arXiv)

Mobile autonomy relies on the precise perception of dynamic environments. Robustly tracking moving objects in 3D world thus plays a pivotal role for applications like trajectory prediction, obstacle avoidance, and path planning. While most current methods utilize LiDARs or cameras for Multiple Object Tracking (MOT), the capabilities of 4D imaging radars remain largely unexplored. Recognizing the challenges posed by radar noise and point sparsity in 4D radar data, we introduce RaTrack, an innovative solution tailored for radar-based tracking. Bypassing the typical reliance on specific object types and 3D bounding boxes, our method focuses on motion segmentation and clustering, enriched by a motion estimation module. Evaluated on the View-of-Delft dataset, RaTrack showcases superior tracking precision of moving objects, largely surpassing the performance of the state of the art. We release our code and model at https://github.com/LJacksonPan/RaTrack.

Key facts. Cited by 21 papers in the map (data through 7 Oct 2026). Builds on 43 of its 57 references that are in the map. First posted on arXiv 18 Sep 2023.

Builds on

43 of 57 references.

References · 43

  1. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  2. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  3. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
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  5. 2020Center-based 3D Object Detection and Trackingcited by 1,143
  6. 2018PointRCNN: 3D Object Proposal Generation and Detection from Point Cloudcited by 939
  7. 2016MOT16: A Benchmark for Multi-Object Trackingcited by 531
  8. 2021TrackFormer: Multi-Object Tracking with Transformerscited by 515
  9. 2020Tracking Objects as Pointscited by 483
  10. 2019PIXOR: Real-time 3D Object Detection from Point Cloudscited by 358
  11. 2019Class-balanced Grouping and Sampling for Point Cloud 3D Object Detectioncited by 350
  12. 2020TNT: Target-driveN Trajectory Predictioncited by 345
31 more
  1. 2020Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloudcited by 335
  2. 2017Joint 3D Proposal Generation and Object Detection from View Aggregationcited by 325
  3. 2019Towards Real-Time Multi-Object Trackingcited by 311
  4. 2019MOTS: Multi-Object Tracking and Segmentationcited by 222
  5. 2019Learning a Neural Solver for Multiple Object Trackingcited by 198
  6. 2020PnPNet: End-to-End Perception and Prediction with Tracking in the Loopcited by 143
  7. 2015MOTChallenge 2015: Towards a Benchmark for Multi-Target Trackingcited by 133
  8. 2020GNN3DMOT: Graph Neural Network for 3D Multi-Object Tracking with Multi-Feature Learningcited by 113
  9. 2021Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversalscited by 112
  10. 2019Deep Learning in Video Multi-Object Tracking: A Surveycited by 107
  11. 2021SimpleTrack: Understanding and Rethinking 3D Multi-object Trackingcited by 102
  12. 2021EagerMOT: 3D Multi-Object Tracking via Sensor Fusioncited by 83
  13. 2021Monocular Quasi-Dense 3D Object Trackingcited by 80
  14. 2020Probabilistic 3D Multi-Modal, Multi-Object Tracking for Autonomous Drivingcited by 73
  15. 2021DEFT: Detection Embeddings for Trackingcited by 56
  16. 2020Path Planning using Neural A* Searchcited by 51
  17. 2021Scalable Scene Flow from Point Clouds in the Real Worldcited by 49
  18. 2020JRMOT: A Real-Time 3D Multi-Object Tracker and a New Large-Scale Datasetcited by 39
  19. 2021Learnable Online Graph Representations for 3D Multi-Object Trackingcited by 38
  20. 2023Hidden Gems: 4D Radar Scene Flow Learning Using Cross-Modal Supervisioncited by 36
  21. 2021Score refinement for confidence-based 3D multi-object trackingcited by 32
  22. 2022CC-3DT: Panoramic 3D Object Tracking via Cross-Camera Fusioncited by 31
  23. 2022Self-Supervised Scene Flow Estimation with 4-D Automotive Radarcited by 29
  24. 2022PolarMOT: How Far Can Geometric Relations Take Us in 3D Multi-Object Tracking?cited by 29
  25. 2019FANTrack: 3D Multi-Object Tracking with Feature Association Networkcited by 28
  26. 2022ShaSTA: Modeling Shape and Spatio-Temporal Affinities for 3D Multi-Object Trackingcited by 21
  27. 2020Robust Vision-based Obstacle Avoidance for Micro Aerial Vehicles in Dynamic Environmentscited by 10
  28. 2020Prediction-Based Reachability for Collision Avoidance in Autonomous Drivingcited by 10
  29. 2020Factor Graph based 3D Multi-Object Tracking in Point Cloudscited by 9
  30. 2019Energy-efficient Path Planning for Ground Robots by Combining Air and Ground Measurementscited by 2
  31. 2020Automatic Failure Recovery and Re-Initialization for Online UAV Tracking with Joint Scale and Aspect Ratio Optimizationcited by 2

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 1; 2024: 2; 2025: 10; 2026: 8.

21 papers.

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  1. 2024RadarOcc: Robust 3D Occupancy Prediction with 4D Imaging Radarcited by 32
  2. 2023Exploring Radar Data Representations in Autonomous Driving: A Comprehensive Reviewcited by 22
  3. 2025Doracamom: Joint 3D Detection and Occupancy Prediction with Multi-view 4D Radars and Cameras for Omnidirectional Perceptioncited by 21
  4. 2025DoGFlow: Self-Supervised LiDAR Scene Flow via Cross-Modal Doppler Guidancecited by 4
  5. 2025TARS: Traffic-Aware Radar Scene Flow Estimationcited by 3
  6. 2025AttentiveGRU: Recurrent Spatio-Temporal Modeling for Advanced Radar-Based BEV Object Detectioncited by 3
  7. 2026HyperDet: 3D Object Detection with Hyper 4D Radar Point Cloudscited by 3
  8. 2025LiDAR MOT-DETR: A LiDAR-based Two-Stage Transformer for 3D Multiple Object Trackingcited by 2
  9. 2025RadarGen: Automotive Radar Point Cloud Generation from Camerascited by 2
  10. 2025OptiPMB: Enhancing 3D Multi-Object Tracking with Optimized Poisson Multi-Bernoulli Filteringcited by 1
  11. 2025DNOI-4DRO: Deep 4D Radar Odometry with Differentiable Neural-Optimization Iterationscited by 1
  12. 2025Redefining Radar Segmentation: Simultaneous Static-Moving Segmentation and Ego-Motion Estimation using Radar Point Cloudscited by 1
9 more
  1. 2026Radar-Informed 3D Multi-Object Tracking under Adverse Conditionscited by 1
  2. 2024Multi-Object Tracking based on Imaging Radar 3D Object Detectioncited by 0
  3. 2025BEVMOSNet: Multimodal Fusion for BEV Moving Object Segmentationcited by 0
  4. 20264D-CAAL: 4D Radar-Camera Calibration and Auto-Labeling for Autonomous Drivingcited by 0
  5. 2026RadarXFormer: Robust Object Detection via Cross-Dimension Fusion of 4D Radar Spectra and Images for Autonomous Drivingcited by 0
  6. 2026DeeperRadar: End-to-End MIMO Radar Design and Multi-Modal Fusion for Autonomous Vehicle Perceptioncited by 0
  7. 2026Stereo 4D Radar for 3D Object Detection: Integrating Geometric Alignment and Absolute Velocity Estimationcited by 0
  8. 2026IMM-based Multiple Object Tracking using a State Prediction Neural Networkcited by 0
  9. 20264D Radar Perception Algorithms for Autonomous Driving: A Reviewcited by 0