On this page you will find project links and literature that have used the Oxford Radar RobotCar Dataset or related radar data.

If you have used this dataset and wish to be added to the list (or other radar papers / blogs / datasets you think helpful to a reader) please get in touch at radarrobotcardataset@robots.ox.ac.uk

Oxford Radar RobotCar Dataset Papers

Papers that use the dataset include:

Masking by Moving: Learning Distraction-Free Radar Odometry from Pose Information
Dan Barnes, Rob Weston and Ingmar Posner
arXiv preprint
[Paper] [Video]

@article{MaskingByMovingArXiv,
  author = {Dan Barnes and Rob Weston and Ingmar Posner},
  title = {Masking by Moving: Learning Distraction-Free Radar Odometry from Pose Information},
  journal = {arXiv preprint arXiv: 1909.03752},
  url = {https://arxiv.org/pdf/1909.03752},
  pdf = {https://arxiv.org/pdf/1909.03752.pdf},
  year = {2019}
}

Some papers using similar, if not identical, Millimetre-Wave FMCW radar for mobile autonomy prior to this dataset include:

What Could Go Wrong? Introspective Radar Odometry in Challenging Environments
R. Aldera, D. De Martini, M. Gadd, and P. Newman
Intelligent Transportation Systems (ITSC) Conference 2019
[Paper]

@inproceedings{2019ITSC_aldera,
address = {Auckland, New Zealand},
author = {Aldera, Roberto and De Martini, Daniele and Gadd, Matthew and Newman, Paul},
booktitle = {{IEEE Intelligent Transportation Systems (ITSC) Conference}},
month = {October},
title = {{What Could Go Wrong? Introspective Radar Odometry in Challenging Environments}},
year = {2019},
Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2019ITSC_aldera.pdf}
}

Radar-only ego-motion estimation in difficult settings via graph matching
S. Cen and P. Newman
International Conference on Robotics and Automation (ICRA) 2019
[Paper] [Video]

@inproceedings{2019ICRA_cen,
Title = {Radar-only ego-motion estimation in difficult settings via graph matching},
Author = {Cen,Sarah and Newman, Paul},
Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada },
Year = {2019},
Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2019ICRA_cen.pdf}
}

Fast Radar Motion Estimation with a Learnt Focus of Attention using Weak Supervision
R. Aldera, D. De Martini, M. Gadd, and P. Newman
International Conference on Robotics and Automation (ICRA) 2019
[Paper] [Video]

@inproceedings{2019ICRA_aldera,
Title = {Fast Radar Motion Estimation with a Learnt Focus of Attention using Weak Supervision},
Author = {Aldera, Roberto and De Martini, Daniele and Gadd, Matthew and Newman, Paul},
Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada},
Year = {2019},
Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2019ICRA_aldera.pdf}
}

Probably Unknown: Deep Inverse Sensor Modelling Radar
R. Weston, S. Cen, P. Newman, and I. Poser
International Conference on Robotics and Automation (ICRA) 2019
[Paper] [Video]

@inproceedings{ICRA19_weston,
Title = {Probably Unknown: Deep Inverse Sensor Modelling Radar},
Author = {Weston, Rob and Cen, Sarah and Newman, Paul and Posner, Ingmar},
Journal = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019},
Year = {2019},
Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/ICRA19_weston.pdf}
}

Precise Ego-Motion Estimation with Millimeter-Wave Radar under Diverse and Challenging Conditions
S. H. Cen and P. Newman
International Conference on Robotics and Automation (ICRA) 2018
[Paper] [Video]

@article{2018ICRA_cen,
author = {Sarah H. Cen and Paul Newman},
title = {Precise Ego-Motion Estimation with Millimeter-Wave Radar under Diverse and Challenging Conditions},
journal = {Proceedings of the 2018 IEEE International Conference on Robotics and Automation},
address = {Oxford, UK},
year = {2018},
Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2018ICRA_cen.pdf}
}

Some additional blog posts that may be of interest include:

KAIST Radar-LIDAR Dataset

Concurrently to this release another Navtech Radar Dataset was submitted to the
ICRA 2019 Workshop on Dataset Generation and Benchmarking of SLAM Algorithms for Robotics and VR/AR.

Although significantly smaller in size than our release, the comparable setups should provide a great opportunity for cross validating approaches between datasets in different geographic locations.

If the reader was not aware of this data we would advise they have a look at their dataset which can be found at:
https://sites.google.com/view/dgbicra2019-radar-lidar

Radar Dataset for Robust Localization and Mapping in Urban Environment
Park, Yeong Sang and Jeong, Jinyong and Shin, Youngsik and Kim, Ayoung
ICRA 2019 Workshop on Dataset Generation and Benchmarking of SLAM Algorithms for Robotics and VR/AR
[Paper]