RaMOD: Moving-Object Detection from Raw mmWave Radar Cubes under Ego Motion
RaMOD: Moving-Object Detection from Raw mmWave Radar Cubes under Ego Motion
This research presents RaMOD, a real-time framework for detecting moving objects and estimating velocities from raw range-azimuth-Doppler (RAD) cubes acquired by vehicle-mounted single-chip mmWave radars. The method explicitly estimates frame-wise ego motion to predict and suppress Doppler responses from world-static structures, then temporally encodes the suppressed data into multi-scale features for object detection. For each detected object, it predicts radial and forward velocities under both raw-Doppler and Doppler-unwrapped hypotheses along with Doppler-wrapping probabilities. Evaluated on the BRIDGE-Liv dataset, RaMOD achieves an 80.8% cube mAP at IoU 0.30 (15.7 percentage points above the strongest baseline), a velocity mean absolute error of 1.128 m/s, and 99.87% Doppler-wrapping accuracy.
The paper introduces RaMOD, a real-time framework for moving-object detection and velocity estimation from raw mmWave radar cubes that explicitly estimates ego motion to suppress static structure returns and handles Doppler wrapping.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
velocity MAE
1.128
View original evidence
RA, and RD detection settings, achieving 80.8% cube mAP at IoU 0.30, 15.7 percentage points above the strongest RAD-cube baseline. Velocity MAE is 1.128 m/s, with 99.87% Doppler-wrapping accuracy.
Open source S5percentage points above baseline
15.7
View original evidence
RA, and RD detection settings, achieving 80.8% cube mAP at IoU 0.30, 15.7 percentage points above the strongest RAD-cube baseline. Velocity MAE is 1.128 m/s, with 99.87% Doppler-wrapping accuracy.
Open source S5
- paper: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
RA, and RD detection settings, achieving 80.8% cube mAP at IoU 0.30, 15.7 percentage points above the strongest RAD-cube baseline. Velocity MAE is 1.128 m/s, with 99.87% Doppler-wrapping accuracy.
Open source S5
Source：arXiv Robotics — research abstracts · arxiv.org