RRPN: Radar Region Proposal Network for Object Detection in Autonomous Vehicles

January 2020

tl;dr: Use radar for region proposal in a two-stage object detector.

Overall impression

This study proposed translated anchors to address the misalignment of radar data.

One problem with radar data is the uncertain physical extent of radar pins. This include the lack of elevation z information, and the large uncertainty in azimuth direction.

However the method compared RRPN with Fast RCNN (even in 2019!). Selective Search may not be a fair comparison. The improvement of performance over Fast RCNN is not huge, and I suspect the performance may be lower than Faster RCNN.

Key ideas

Technical details