mlsanityData to 7 Oct 2026

RETR: Multi-View Radar Detection Transformer for Indoor Perception

arXiv 2411.10293 ↗First posted 15 Nov 2024cs.CV cs.AI cs.LGcited by 6

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Abstract (arXiv)

Indoor radar perception has seen rising interest due to affordable costs driven by emerging automotive imaging radar developments and the benefits of reduced privacy concerns and reliability under hazardous conditions (e.g., fire and smoke). However, existing radar perception pipelines fail to account for distinctive characteristics of the multi-view radar setting. In this paper, we propose Radar dEtection TRansformer (RETR), an extension of the popular DETR architecture, tailored for multi-view radar perception. RETR inherits the advantages of DETR, eliminating the need for hand-crafted components for object detection and segmentation in the image plane. More importantly, RETR incorporates carefully designed modifications such as 1) depth-prioritized feature similarity via a tunable positional encoding (TPE); 2) a tri-plane loss from both radar and camera coordinates; and 3) a learnable radar-to-camera transformation via reparameterization, to account for the unique multi-view radar setting. Evaluated on two indoor radar perception datasets, our approach outperforms existing state-of-the-art methods by a margin of 15.38+ AP for object detection and 11.91+ IoU for instance segmentation, respectively. Our implementation is available at https://github.com/merlresearch/radar-detection-transformer.

Key facts. Cited by 6 papers in the map (data through 7 Oct 2026). Builds on 29 of its 48 references that are in the map. First posted on arXiv 15 Nov 2024.

Builds on

29 of 48 references.

References · 29

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17 more
  1. 2022K-Radar: 4D Radar Object Detection for Autonomous Driving in Various Weather Conditionscited by 107
  2. 2023MM-Fi: Multi-Modal Non-Intrusive 4D Human Dataset for Versatile Wireless Sensingcited by 77
  3. 2019mm-Pose: Real-Time Human Skeletal Posture Estimation using mmWave Radars and CNNscited by 58
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  5. 2023Detection Transformer with Stable Matchingcited by 43
  6. 2015What makes for effective detection proposals?cited by 38
  7. 2022mRI: Multi-modal 3D Human Pose Estimation Dataset using mmWave, RGB-D, and Inertial Sensorscited by 37
  8. 2021Multi-View Radar Semantic Segmentationcited by 34
  9. 2024RadarOcc: Robust 3D Occupancy Prediction with 4D Imaging Radarcited by 32
  10. 2022HuPR: A Benchmark for Human Pose Estimation Using Millimeter Wave Radarcited by 31
  11. 2023Echoes Beyond Points: Unleashing the Power of Raw Radar Data in Multi-modality Fusioncited by 25
  12. 2022Exploiting Temporal Relations on Radar Perception for Autonomous Drivingcited by 22
  13. 2021CubeLearn: End-to-end Learning for Human Motion Recognition from Raw mmWave Radar Signalscited by 17
  14. 2022RFMask: A Simple Baseline for Human Silhouette Segmentation with Radio Signalscited by 13
  15. 2024MMVR: Millimeter-wave Multi-View Radar Dataset and Benchmark for Indoor Perceptioncited by 10
  16. 20244D Radar Semantic Segmentation of People in Field Conditions Using Temporal Multi-View Networkscited by 4
  17. 2024SIRA: Scalable Inter-frame Relation and Association for Radar Perceptioncited by 4

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 4; 2026: 2.

6 papers.

  1. 2025M4Human: A Large-Scale Multimodal mmWave Radar Benchmark for Human Mesh Reconstructioncited by 6
  2. 2025RAPTR: Radar-based 3D Pose Estimation using Transformercited by 2
  3. 2025RISE: Single Static Radar-based Indoor Scene Understandingcited by 2
  4. 2025milliMamba: Specular-Aware Human Pose Estimation via Dual mmWave Radar with Multi-Frame Mamba Fusioncited by 2
  5. 2026A Two-Stage Motion-Aware Framework for mmWave-based Human Mesh Recoverycited by 1
  6. 2026Leveraging Transformer Decoder for Automotive Radar Object Detectioncited by 0