Awesome Radar-Camera Fusion

Website: https://XJTLU-VEC.github.io/Radar-Camera-Fusion

Overview

• Datasets
• Methods
• Citation

Datasets

Id	Name	Year	Task	Annotation	Radar Data Representation	Link
1	nuScenes	2019	Object Detection Object Tracking	3D box-level	Point Cloud	Website Github
2	Astyx	2019	Object Detection	3D box-level	Point Cloud	Website
3	SeeingThroughFog	2020	Object Detection	2D box-level 3D box-level	Point Cloud	Website
4	CARRADA	2020	Object Detection Semantic Segmentation Object Tracking Trajectory Prediction	2D box-level 2D pixel-level	Range-Doppler Tensor Range-Azimuth Tensor	Website
5	HawkEye	2020	Semantic Segmentation	3D point-level	Point Cloud	Website
6	Zendar	2020	Object Detection Mapping Localization	2D box-level	Range-Doppler Tensor Range-Azimuth Tensor Point Cloud	Website
7	RADIATE	2020	Object Detection Object Tracking SLAM Scene Understanding	2D box-level	Range-Azimuth Tensor	Website
8	AIODrive	2020	Object Detection Object Tracking Semantic Segmentation Trajectory Prediction Depth Estimation	2D box-level 3D box-level	Point Cloud	Website
9	CRUW	2021	Object Detection	2D box-level	Range-Azimuth Tensor	Website
10	RaDICaL	2021	Object Detection	2D box-level	ADC Signal	Website
11	RadarScenes	2021	Object Detection Semantic Segmentation	2D pixel-level 3D point-level	Point Cloud	Website
12	RADDet	2021	Object Detection	2D box-level 3D box-level	Range-Azimuth-Doppler Tensor	Github
13	FloW	2021	Object Detection	2D box-level	Range-Doppler Tensor Point Cloud	Website Github
14	RADIal	2021	Object Detection Semantic Segmentation	2D box-level	ADC Signal Range-Azimuth-Doppler Tensor Range-Azimuth Tensor Range-Doppler Tensor Point Cloud	Github
15	VoD	2022	Object Detection	2D box-level 3D box-level	Point Cloud	Website
16	Boreas	2022	Object Detection Localization Odometry	2D box-level	Range-Azimuth Tensor	Website
17	TJ4DRadSet	2022	Object Detection Object Tracking	3D box-level	Point Cloud	Website
18	K-Radar	2022	Object Detection Object Tracking SLAM	3D box-level	Range-Azimuth-Doppler Tensor	Github
19	aiMotive	2022	Object Detection	3D box-level	Point cloud	Website

Methods

Id	Short Name	Year	Task	Annotation	Radar Data Representation	Fusion Level	Dataset	Link
1	Chadwick et al.	2019	Object Detection	2D box-level	Point Cloud	Feature Level	Self-Recorded
2	RRPN	2019	Object Detection	2D box-level	Point Cloud	Data Level	nuScenes	Code
3	Jha et al.	2019	Object Detection	2D box-level	Point Cloud	Object Level	Self-Recorded
4	CMGGAN	2019	Semantic Segmentation	2D point-level	Grid Map	Feature Level	Self-Recorded
5	Meyer and Kuschk	2019	Object Detection	3D box-level	Point Cloud	Data Level	Astyx
6	RVNet	2019	Object Detection	2D box-level	Point Cloud	Feature Level	nuScenes
7	FusionNet	2019	Object Detection Object Classification	2D box-level	Range-Azimuth Tensor	Feature Level	Self-Recorded
8	SO-Net	2020	Object Detection Semantic Segmentation	2D box-level 2D pixel-level	Point Cloud	Feature Level	nuScenes
9	SAF-FCOS	2020	Object Detection	2D box-level	Point Cloud	Feature Level	nuScenes	Code
10	CRF-Net	2019	Object Detection	2D box-level	Point Cloud	Data Level	nuScenes Self-Recorded	Code
11	Bijelic et al.	2020	Object Detection	2D box-level	Point Cloud	Feature Level	DENSE	Code
12	BIRANet	2020	Object Detection	2D box-level	Point Cloud	Feature Level	nuScenes	Code
13	Nabati and Qi	2020	Object Detection Depth Estimation	2D box-level	Point Cloud	Mixed Level	nuScenes
14	YOdar	2020	Object Detection	2D box-level	Point Cloud	Feature Level	nuScenes
15	CenterNet	2020	Object Detection	3D box-level	Point Cloud	Feature Level	nuScenes	Code
16	RODNet	2020	Object Detection	2D box-level	Range-Azimuth Tensor	Feature Level	CRUW	Code
17	RAMP-CNN	2021	Object Detection	2D box-level	Range-Azimuth-Doppler Tensor	Feature Level	CRUW
18	Li and Xie	2021	Object Detection	3D box-level	Point Cloud	Feature Level	nuScenes
19	Kim et al.	2020	Object Detection	3D box-level	Range-Azimuth Tensor	Feature Level	Self-Recorded
20	AssociationNet	2021	Object Detection	2D box-level	Point Cloud	Object Level	Self-Recorded
21	RVF-Net	2021	Object Detection	3D box-level	Point Cloud	Data Level	nuScenes
22	Cui et al.	2021	Object Detection	3D box-level	Point Cloud	Mixed Level	Astyx
23	RISFNet	2021	Object Detection	2D box-level	Point Cloud	Feature Level	FloW
24	GRIF Net	2021	Object Detection	3D box-level	Point Cloud	Feature Level	nuScenes
25	Stacker et al.	2021	Object Detection	2D box-level	Point Cloud	Feature Level	nuScenes
26	Harley et al.	2021	Semantic Segmentation	2D pixel-level	Point Cloud	Feature Level	nuScenes
27	RadSegNet	2022	Object Detection	2D box-level 2D pixel-level	Point Cloud Range-Azimuth Tensor	Data-Level	Astyx RADIATE
28	RCBEV	2022	Object Detection	3D box-level	Point Cloud	Feature Level	nuScenes
29	CRAFT	2022	Object Detection	3D box-level	Point Cloud	Data Level	nuScenes
30	DeepFusion	2022	Object Detection	3D box-level	Point Cloud	Feature Level	Self-reorded nuScenes
31	CramNet	2022	Object Detection	3D box-level	Range-Azimuth Tensor	Feature Level	RADIATE
32	MVFusion	2023	Object Detection	3D box-level	Point Cloud	Feature Level	nuScenes
33	CRN	2023	Object Detection	3D box-level	Point Cloud	Feature Level	nuScenes

Citation

Please use the following citation when referencing

@article{yao2023radar,
  title={Radar-Camera Fusion for Object Detection and Semantic Segmentation in Autonomous Driving: A Comprehensive Review},
  author={Yao, Shanliang and Guan, Runwei and Huang, Xiaoyu and Li, Zhuoxiao and Sha, Xiangyu and Yue, Yong and Lim, Eng Gee and Seo, Hyungjoon and Man, Ka Lok and Zhu, Xiaohui and others},
  journal={arXiv preprint arXiv:2304.10410},
  year={2023}
}