Awesome FMCW-LiDAR

A curated list of FMCW-LiDAR papers and resources.

Paper

Clustering

Index	Paper Title	Date	Reference	Datasets Link	Device
1	Doppler velocity-based algorithm for Clustering and Velocity Estimation of moving objects	2022	CVPR	https://arxiv.org/abs/2112.12984	custum made

Object Detection

Index	Paper Title	Date	Reference	Datasets Link	Device
1	HeLiMOS: A Dataset for Moving Object Segmentation in 3D Point Clouds From Heterogeneous LiDAR Sensors	2024	CVPR	https://sites.google.com/view/helimos	Aeva Aeries II

Datasets

Index	Paper Title	Date	Reference	Datasets Link	Device
1	HeLiPR: Heterogeneous LiDAR Dataset for inter-LiDAR Place Recognition under Spatial and Temporal Variations	2024	IJRR	https://sites.google.com/view/heliprdataset/	Aeva Aeries II
2	HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAM	2025	ICRA	https://sites.google.com/view/herculesdataset	Aeva Aeries II
3	AevaScenes Perception Dataset	2025	NULL	https://github.com/aevainc/aevascenes	Aeva Aeries II

Point Cloud Registration

Index	Paper Title	Date	Reference	Code	Device
1	DICP: Doppler Iterative Closest Point Algorithm	2022	RSS	https://github.com/aevainc/Doppler-ICP	Aeva Aeries I FMCW Lidar and CARLA simulator
2	Extended Object Tracking with Doppler velocity-based Point Registration	2023	IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration	NULL	AEVA’s Aeries II FMCW LiDAR
3	Doppler Correspondence: Non-Iterative Scan Matching With Doppler Velocity-Based Correspondence	2025	RSS

Odometry

Index	Paper Title	Date	Reference	Code	Device	Provide Open Datasets？
1	Picking Up Speed: Continuous-Time Lidar-Only Odometry using Doppler Velocity Measurements	2023	RAL	https://github.com/utiasASRL/steam_icp	Aeva Aeries I FMCW LiDAR	link
2	Need for Speed: Fast Correspondence-Free Lidar Odometry Using Doppler Velocity	2023	IROS	NULL	Aeva Aeries I FMCW LiDAR	NULL
3	FMCW-LIO: A Robust Doppler-Aided LiDAR-Inertial Odometry	2024	RAL	https://github.com/IMRL/FMCW-LIO	Aeva Aeries II FMCW LiDAR	ToDo
4	Free-Init: Scan-Free, Motion-Free, and Correspondence-Free Initialization for Doppler LiDAR-Inertial Systems	2024	RAL	https://github.com/IMRL/FreeIni	Aeva Aeries II FMCW LiDAR	ToDo
5	Efficient Doppler LiDAR Odometry using Scan Slicing and Vehicle Kinematics	2024	TIM	https://github.com/NEU-REAL/4DLO	Dataset	NULL
6	Doppler-SLAM: Doppler-Aided Radar-Inertial and LiDAR-Inertial Simultaneous Localization and Mapping	2025	arXiv	https://github.com/Wayne-DWA/Doppler-SLAM	NULL	NULL
7	Balancing Act: Trading Off Doppler Odometry and Map Registration for Efficient Lidar Localization	2025	arXiv	NULL	NULL	NULL
8	CT-FLO: Simple yet Effective FMCW LiDAR Odometry Using an Linear Continuous-Time Trajectory	2026	RAL	NULL	NULL	NULL

Detection/Segmentation/Tracking

Index	Paper Title	Date	Reference	Code	Device	Open Datasets
1	Learning Moving-Object Tracking with FMCW LiDAR	2022	IROS	NULL	Guangshao 2.0 FMCW LiDAR	NULL
2	POD: Predictive Object Detection with Single-Frame FMCW LiDAR Point Cloud	2025	arXiv	NULL	Private dataset, 128-line FMCW LiDAR.	NULL
3	Simpler Is Better: Revisiting Doppler Velocity for Enhanced Moving Object Tracking with FMCW LiDAR	2025	IROS	https://github.com/12w2/DopplerTrack		Yes

Survey

Index	Paper Title	Date	Reference	Website
1	LiDAR Odometry Survey: Recent Advancements and Remaining Challenges	2024	Intelligent Service Robotics	link

Simulator

• CARLA simulator: https://github.com/aevainc/carla

Application

Index	Paper/Project Title	Reference	Authors	Date
1	Applications of Mobile LiDAR for Ultra-High Resolution and GPS-Denied Terrain Mapping in Planetary Analog Environments	54th Lunar and Planetary Science Conference (LPSC).	NASA	2023
2	Degeneracy-Resilient Teach and Repeat for Geometrically Challenging Environments Using FMCW Lidar	arXiv	University of Toronto	2025

FMCW-LiDAR Device

• Leishen LSLIDAR FMCW LiDAR：https://www.lslidar.com/ko/product/fmcw-lidar/
• LAMBDA INNOVISION FMCW LiDAR：https://lambda-innovision.com/%ec%a0%9c%ed%92%88%ec%86%8c%ea%b0%9c/
• Guangshao 2.0 FMCW LiDAR：http://www.laserradar.cn/
• Aeva Aeries I FMCW LiDAR：https://www.aeva.com/
• Aeva Aeries II FMCW LiDAR：https://www.aeva.com/aeries-ii/
• Aeva Atlas FMCW LiDAR: https://www.aeva.com/atlas/
• Aeva Atlas Ultra FMCW LiDAR: https://www.aeva.com/atlas-ultra/ (will be available at 2026)
• SuZhou intellidar Scenery, Insight, Vast series FMCW LiDAR: https://github.com/DoongLi/awesome-FMCW-LiDAR/blob/main/Doc/SuZhou-intellidar-doc.pdf

FMCW-LiDAR Parameter Setting(Lidar2IMU)

• Aeva Aeries II FMCW LiDAR：https://www.aeva.com/aeries-ii/

Parameter	Value	Unit	Description
imu_x	0.020	meter	X-axis offset of the IMU
imu_y	0.023	meter	Y-axis offset of the IMU
imu_z	-0.037	meter	Z-axis offset of the IMU
imu_rot_x_deg	0.0	degree	Rotation around the x-axis (in degrees)
imu_rot_y_deg	0.0	degree	Rotation around the y-axis (in degrees)
imu_rot_z_deg	0.0	degree	Rotation around the z-axis (in degrees)

TODO LIST

• Different models FMCW-LIDAR parameter comparison