Abdu et al. [4] summarise the deep learning models for radar perception based on different radar representations, including

  1. occupancy grid maps,
  2. range–Doppler–azimuth maps,
  3. micro-Doppler spectrograms,
  4. point clouds

Untitled

Figure 1. Point clouds of a 4D radar and a 16-beam LiDAR from the Astyx dataset [2]

References

  1. Towards Deep Radar Perception for Autonomous Driving: Datasets, Methods, and Challenges, sensors, 22
  2. [4] Abdu, F.J.; Zhang, Y.; Fu, M.; Li, Y.; Deng, Z. Application of Deep Learning on Millimeter-Wave Radar Signals: A Review. Sensors. 2021, 21, 1951