Thesis Details

People Detection Using Radar

Bachelor's Thesis Student: Bartko Jakub Academic Year: 2021/2022 Supervisor: Maršík Lukáš, Ing.
Czech title
Detekce osob s použitím radaru

This thesis aims to research the applicability of deep learning methods on point clouds generated by millimeter-wave radars, as a solution for people detection, and 3D scene understanding in general. Radar is a system that uses radio waves to determine the distance, azimuth, and velocity of surrounding objects. For each point of detection, Cartesian coordinates can be calculated, to produce a set of points in 3D space called a point cloud. Deep neural network architectures designed to operate on sparse 3D point clouds can be trained for point-wise segmentation, object detection, classification, and tracking. This can be used to greatly advance the 3D scene understanding by machines. A model based on the state-of-the-art methods for object detection and classification on sparse point clouds was trained as a part of this thesis, for the purpose of people detection. To showcase the robustness of the trained model and the straightforwardness of its applicability to solve prominent real-world tasks of scene understanding, a people counting application was developed. The employed methods were thoroughly evaluated on a dataset created as a part of this thesis, consisting of over 19,500 labels on 3D radar point clouds.


millimeter-wave radar, radar point cloud, 3D point cloud annotation, people detection, people counting, 3D scene understanding, PointNet++, PointRCNN

Degree Programme
defended, grade A
15 June 2022
Černocký Jan, prof. Dr. Ing. (DCGM FIT BUT), předseda
Bartík Vladimír, Ing., Ph.D. (DIFS FIT BUT), člen
Češka Milan, doc. RNDr., Ph.D. (DITS FIT BUT), člen
Jaroš Jiří, doc. Ing., Ph.D. (DCSY FIT BUT), člen
Orság Filip, Ing., Ph.D. (DITS FIT BUT), člen
BARTKO, Jakub. People Detection Using Radar. Brno, 2022. Bachelor's Thesis. Brno University of Technology, Faculty of Information Technology. 2022-06-15. Supervised by Maršík Lukáš. Available from:
    author = "Jakub Bartko",
    type = "Bachelor's thesis",
    title = "People Detection Using Radar",
    school = "Brno University of Technology, Faculty of Information Technology",
    year = 2022,
    location = "Brno, CZ",
    language = "english",
    url = ""
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