mlsanityData to 14 Oct 2026

USVTrack: USV-Based 4D Radar-Camera Tracking Dataset for Autonomous Driving in Inland Waterways

arXiv 2506.18737 ↗First posted 23 Jun 2025cs.CV cs.ROcited by 4

Not on the map. Why?

Abstract (arXiv)

Object tracking in inland waterways plays a crucial role in safe and cost-effective applications, including waterborne transportation, sightseeing tours, environmental monitoring and surface rescue. Our Unmanned Surface Vehicle (USV), equipped with a 4D radar, a monocular camera, a GPS, and an IMU, delivers robust tracking capabilities in complex waterborne environments. By leveraging these sensors, our USV collected comprehensive object tracking data, which we present as USVTrack, the first 4D radar-camera tracking dataset tailored for autonomous driving in new generation waterborne transportation systems. Our USVTrack dataset presents rich scenarios, featuring diverse various waterways, varying times of day, and multiple weather and lighting conditions. Moreover, we present a simple but effective radar-camera matching method, termed RCM, which can be plugged into popular two-stage association trackers. Experimental results utilizing RCM demonstrate the effectiveness of the radar-camera matching in improving object tracking accuracy and reliability for autonomous driving in waterborne environments. The USVTrack dataset is public on https://usvtrack.github.io.

Key facts. Cited by 4 papers in the map (data through 14 Oct 2026). Builds on 43 of its 61 references that are in the map. First posted on arXiv 23 Jun 2025.

Builds on

43 of 61 references.

References · 43

  1. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,639
  2. 2020Deformable DETR: Deformable Transformers for End-to-End Object Detectioncited by 3,422
  3. 2019Objects as Pointscited by 1,175
  4. 2021YOLOX: Exceeding YOLO Series in 2021cited by 1,071
  5. 2022YOLOv7: Trainable bag-of-freebies sets new state-of-the-art for real-time object detectorscited by 982
  6. 2017Simple Online and Realtime Tracking with a Deep Association Metriccited by 910
  7. 2021ByteTrack: Multi-Object Tracking by Associating Every Detection Boxcited by 823
  8. 2021TrackFormer: Multi-Object Tracking with Transformerscited by 518
  9. 2024YOLOv10: Real-Time End-to-End Object Detectioncited by 515
  10. 2020FairMOT: On the Fairness of Detection and Re-Identification in Multiple Object Trackingcited by 490
  11. 2024YOLOv9: Learning What You Want to Learn Using Programmable Gradient Informationcited by 425
  12. 2019Tracking without bells and whistlescited by 382
31 more
  1. 2021MOTR: End-to-End Multiple-Object Tracking with Transformercited by 381
  2. 2020MOT20: A benchmark for multi object tracking in crowded scenescited by 357
  3. 2022Observation-Centric SORT: Rethinking SORT for Robust Multi-Object Trackingcited by 346
  4. 2022BoT-SORT: Robust Associations Multi-Pedestrian Trackingcited by 320
  5. 2025YOLOv12: Attention-Centric Real-Time Object Detectorscited by 305
  6. 2020Detection and Tracking Meet Drones Challengecited by 263
  7. 2021DanceTrack: Multi-Object Tracking in Uniform Appearance and Diverse Motioncited by 217
  8. 2022StrongSORT: Make DeepSORT Great Againcited by 213
  9. 2025FutureSightDrive: Thinking Visually with Spatio-Temporal CoT for Autonomous Drivingcited by 166
  10. 2022MOTRv2: Bootstrapping End-to-End Multi-Object Tracking by Pretrained Object Detectorscited by 148
  11. 2023Deep OC-SORT: Multi-Pedestrian Tracking by Adaptive Re-Identificationcited by 132
  12. 2022K-Radar: 4D Radar Object Detection for Autonomous Driving in Various Weather Conditionscited by 108
  13. 2022TJ4DRadSet: A 4D Radar Dataset for Autonomous Drivingcited by 75
  14. 2020A Deep Learning-based Radar and Camera Sensor Fusion Architecture for Object Detectioncited by 70
  15. 2023Hybrid-SORT: Weak Cues Matter for Online Multi-Object Trackingcited by 67
  16. 2021SeaDronesSee: A Maritime Benchmark for Detecting Humans in Open Watercited by 61
  17. 2024Multiple Object Tracking as ID Predictioncited by 60
  18. 2023Radar-Camera Fusion for Object Detection and Semantic Segmentation in Autonomous Driving: A Comprehensive Reviewcited by 58
  19. 2023SMURF: Spatial Multi-Representation Fusion for 3D Object Detection with 4D Imaging Radarcited by 49
  20. 2023MOTRv3: Release-Fetch Supervision for End-to-End Multi-Object Trackingcited by 42
  21. 2023WaterScenes: A Multi-Task 4D Radar-Camera Fusion Dataset and Benchmarks for Autonomous Driving on Water Surfacescited by 35
  22. 2024RadarOcc: Robust 3D Occupancy Prediction with 4D Imaging Radarcited by 33
  23. 2023Dual Radar: A Multi-modal Dataset with Dual 4D Radar for Autonomous Drivingcited by 32
  24. 2023Exploring Radar Data Representations in Autonomous Driving: A Comprehensive Reviewcited by 22
  25. 2024V2X-Radar: A Multi-modal Dataset with 4D Radar for Cooperative Perceptioncited by 22
  26. 2021Are We Ready for Unmanned Surface Vehicles in Inland Waterways? The USVInland Multisensor Dataset and Benchmarkcited by 21
  27. 2023NTU4DRadLM: 4D Radar-centric Multi-Modal Dataset for Localization and Mappingcited by 17
  28. 2025LXLv2: Enhanced LiDAR Excluded Lean 3D Object Detection with Fusion of 4D Radar and Cameracited by 13
  29. 2024DDPM-MoCo: Advancing Industrial Surface Defect Generation and Detection with Generative and Contrastive Learningcited by 10
  30. 2023The 2nd Workshop on Maritime Computer Vision (MaCVi) 2024cited by 7
  31. 20253rd Workshop on Maritime Computer Vision (MaCVi) 2025: Challenge Resultscited by 4

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 1; 2026: 3.

4 papers.

  1. 2025Da Yu: Towards USV-Based Image Captioning for Waterway Surveillance and Scene Understandingcited by 0
  2. 20264D-CAAL: 4D Radar-Camera Calibration and Auto-Labeling for Autonomous Drivingcited by 0
  3. 2026WaterVideoQA: ASV-Centric Perception and Rule-Compliant Reasoning via Multi-Modal Agentscited by 0
  4. 2026MMUSV-Sim: A Perception-Oriented Simulation and Data-Generation Platform for Multi-USV Cooperative Perceptioncited by 0