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

Pan, Z; Ding, F; Zhong, H; Lu, CX; (2024) RaTrack: Moving Object Detection and Tracking with 4D Radar Point Cloud. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2024. (pp. pp. 4480-4487). Institute of Electrical and Electronics Engineers (IEEE) Green open access

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Abstract

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.

Type: Proceedings paper
Title: RaTrack: Moving Object Detection and Tracking with 4D Radar Point Cloud
Event: 2024 IEEE International Conference on Robotics and Automation (ICRA)
Location: Yokohama, Japan
Dates: 13th-17th May 2024
ISBN-13: 979-8-3503-8457-4
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/ICRA57147.2024.10610368
Publisher version: http://dx.doi.org/10.1109/icra57147.2024.10610368
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher's terms and conditions.
UCL classification: UCL
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
URI: https://discovery-pp.ucl.ac.uk/id/eprint/10201175
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