{"id":"https://openalex.org/W4401415925","doi":"https://doi.org/10.1109/icra57147.2024.10610368","title":"RaTrack: Moving Object Detection and Tracking with 4D Radar Point Cloud","display_name":"RaTrack: Moving Object Detection and Tracking with 4D Radar Point Cloud","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415925","doi":"https://doi.org/10.1109/icra57147.2024.10610368"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610368","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610368","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101869721","display_name":"Zhijun Pan","orcid":"https://orcid.org/0000-0003-4010-3648"},"institutions":[{"id":"https://openalex.org/I165526535","display_name":"Royal College of Art","ror":"https://ror.org/01egahc47","country_code":"GB","type":"education","lineage":["https://openalex.org/I165526535"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Zhijun Pan","raw_affiliation_strings":["Royal College of Art,Computer Science Research Centre,United Kingdom"],"affiliations":[{"raw_affiliation_string":"Royal College of Art,Computer Science Research Centre,United Kingdom","institution_ids":["https://openalex.org/I165526535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082306673","display_name":"Fangqiang Ding","orcid":"https://orcid.org/0000-0001-5287-7128"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Fangqiang Ding","raw_affiliation_strings":["University of Edinburgh,School of Informatics,United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Edinburgh,School of Informatics,United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102533631","display_name":"Hantao Zhong","orcid":null},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hantao Zhong","raw_affiliation_strings":["University of Cambridge,Department of Computer Science and Technology,United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Cambridge,Department of Computer Science and Technology,United Kingdom","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030505775","display_name":"Chris Xiaoxuan Lu","orcid":"https://orcid.org/0000-0002-3733-4480"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chris Xiaoxuan Lu","raw_affiliation_strings":["University College London,Department of Computer Science,United Kingdom"],"affiliations":[{"raw_affiliation_string":"University College London,Department of Computer Science,United Kingdom","institution_ids":["https://openalex.org/I45129253"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101869721"],"corresponding_institution_ids":["https://openalex.org/I165526535"],"apc_list":null,"apc_paid":null,"fwci":4.9923,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.96356855,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4480","last_page":"4487"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6463873982429504},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5695568919181824},{"id":"https://openalex.org/keywords/radar-tracker","display_name":"Radar tracker","score":0.5588790774345398},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5474976301193237},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5139889121055603},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4941401779651642},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.47810477018356323},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4642534852027893},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.463795006275177},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4512906074523926},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07525172829627991},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.05240824818611145}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6463873982429504},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5695568919181824},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.5588790774345398},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5474976301193237},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5139889121055603},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4941401779651642},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.47810477018356323},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4642534852027893},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.463795006275177},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4512906074523926},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07525172829627991},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.05240824818611145},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610368","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610368","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W66443818","https://openalex.org/W1521019969","https://openalex.org/W1522301498","https://openalex.org/W2003447360","https://openalex.org/W2115579991","https://openalex.org/W2124781496","https://openalex.org/W2146500120","https://openalex.org/W2222512263","https://openalex.org/W2291627510","https://openalex.org/W2798965597","https://openalex.org/W2946314455","https://openalex.org/W2949708697","https://openalex.org/W2953920664","https://openalex.org/W2963400571","https://openalex.org/W2964199361","https://openalex.org/W2966535964","https://openalex.org/W2968296999","https://openalex.org/W2969987486","https://openalex.org/W2971306974","https://openalex.org/W3008146938","https://openalex.org/W3034681945","https://openalex.org/W3034739212","https://openalex.org/W3034782805","https://openalex.org/W3035442500","https://openalex.org/W3089858107","https://openalex.org/W3095753995","https://openalex.org/W3097139398","https://openalex.org/W3106763294","https://openalex.org/W3119686997","https://openalex.org/W3130219368","https://openalex.org/W3131480208","https://openalex.org/W3131716792","https://openalex.org/W3132607695","https://openalex.org/W3136115421","https://openalex.org/W3167095230","https://openalex.org/W3181852566","https://openalex.org/W3202821542","https://openalex.org/W3206199195","https://openalex.org/W3206774503","https://openalex.org/W3207707490","https://openalex.org/W4200381380","https://openalex.org/W4206545848","https://openalex.org/W4210674219","https://openalex.org/W4221161772","https://openalex.org/W4226100504","https://openalex.org/W4252899283","https://openalex.org/W4285102535","https://openalex.org/W4295331127","https://openalex.org/W4313168910","https://openalex.org/W4320736629","https://openalex.org/W4386066534","https://openalex.org/W6631190155","https://openalex.org/W6637131181","https://openalex.org/W6696672603","https://openalex.org/W6739778489","https://openalex.org/W6767379092","https://openalex.org/W6778693825","https://openalex.org/W6782468546","https://openalex.org/W6783625674","https://openalex.org/W6797951480","https://openalex.org/W6847073259"],"related_works":["https://openalex.org/W3016928466","https://openalex.org/W4389574804","https://openalex.org/W2936725271","https://openalex.org/W3150655618","https://openalex.org/W3108295644","https://openalex.org/W1578717197","https://openalex.org/W2626737336","https://openalex.org/W2005998065","https://openalex.org/W4313855562","https://openalex.org/W2091422131"],"abstract_inverted_index":{"Mobile":[0],"autonomy":[1],"relies":[2],"on":[3,82,93,105],"the":[4,45,55,79,106,119,122,125],"precise":[5],"perception":[6],"of":[7,47,114,121,124],"dynamic":[8],"environments.":[9],"Robustly":[10],"tracking":[11,112],"moving":[12,115],"objects":[13],"in":[14,64],"3D":[15,87],"world":[16],"thus":[17],"plays":[18],"a":[19,100],"pivotal":[20],"role":[21],"for":[22,40,75],"applications":[23],"like":[24],"trajectory":[25],"prediction,":[26],"obstacle":[27],"avoidance,":[28],"and":[29,61,86,96,131],"path":[30],"planning.":[31],"While":[32],"most":[33],"current":[34],"methods":[35],"utilize":[36],"LiDARs":[37],"or":[38],"cameras":[39],"Multiple":[41],"Object":[42],"Tracking":[43],"(MOT),":[44],"capabilities":[46],"4D":[48,65],"imaging":[49],"radars":[50],"remain":[51],"largely":[52,117],"unexplored.":[53],"Recognizing":[54],"challenges":[56],"posed":[57],"by":[58,99],"radar":[59,66],"noise":[60],"point":[62],"sparsity":[63],"data,":[67],"we":[68],"introduce":[69],"RaTrack,":[70],"an":[71],"innovative":[72],"solution":[73],"tailored":[74],"radar-based":[76],"tracking.":[77],"Bypassing":[78],"typical":[80],"reliance":[81],"specific":[83],"object":[84],"types":[85],"bounding":[88],"boxes,":[89],"our":[90,129],"method":[91],"focuses":[92],"motion":[94,101],"segmentation":[95],"clustering,":[97],"enriched":[98],"estimation":[102],"module.":[103],"Evaluated":[104],"View-of-Delft":[107],"dataset,":[108],"RaTrack":[109],"showcases":[110],"superior":[111],"precision":[113],"objects,":[116],"surpassing":[118],"performance":[120],"state":[123],"art.":[126],"We":[127],"release":[128],"code":[130],"model":[132],"at":[133],"https://github.com/LJacksonPan/RaTrack.":[134]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}