RadarNeXt: Real-Time and Reliable 3D Object Detector Based On 4D mmWave Imaging Radar

• URL: http://arxiv.org/abs/2501.02314v1
• Date: Sat, 04 Jan 2025 15:40:46 GMT
• Title: RadarNeXt: Real-Time and Reliable 3D Object Detector Based On 4D mmWave Imaging Radar
• Authors: Liye Jia, Runwei Guan, Haocheng Zhao, Qiuchi Zhao, Ka Lok Man, Jeremy Smith, Limin Yu, Yutao Yue,
• Abstract summary: RadarNeXt is a real-time and reliable 3D object detector based on the 4D mmWave radar point clouds. We show that RadarNeXt brings a novel and effective paradigm for 3D perception based on 4D mmWave radar.
• Score: 1.93832811391491
• License:
• Abstract: 3D object detection is crucial for Autonomous Driving (AD) and Advanced Driver Assistance Systems (ADAS). However, most 3D detectors prioritize detection accuracy, often overlooking network inference speed in practical applications. In this paper, we propose RadarNeXt, a real-time and reliable 3D object detector based on the 4D mmWave radar point clouds. It leverages the re-parameterizable neural networks to catch multi-scale features, reduce memory cost and accelerate the inference. Moreover, to highlight the irregular foreground features of radar point clouds and suppress background clutter, we propose a Multi-path Deformable Foreground Enhancement Network (MDFEN), ensuring detection accuracy while minimizing the sacrifice of speed and excessive number of parameters. Experimental results on View-of-Delft and TJ4DRadSet datasets validate the exceptional performance and efficiency of RadarNeXt, achieving 50.48 and 32.30 mAPs with the variant using our proposed MDFEN. Notably, our RadarNeXt variants achieve inference speeds of over 67.10 FPS on the RTX A4000 GPU and 28.40 FPS on the Jetson AGX Orin. This research demonstrates that RadarNeXt brings a novel and effective paradigm for 3D perception based on 4D mmWave radar.

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