RLG-TPV introduces a multimodal Tri-Perspective View framework that fuses camera, radar, and training‑time LiDAR data for 3D object detection. It uses radar and LiDAR to guide a ray‑deformable attention lift, refining depth distributions and providing geometric supervision for side and front planes, while radar cross‑section awareness spreads evidence spatially. On nuScenes, the method attains 0.4981 mAP and 0.5959 NDS, improving orientation and velocity accuracy by about 32 % and 31 % over the CRN baseline.
By Ahmet Mete Dokgoz, A. Enes Doruk, Hasan F. Ates
The review surveys 4D millimeter‑wave radar perception algorithms for autonomous driving, covering signal processing, object detection, semantic segmentation, motion estimation, occupancy prediction, and dynamic scene reconstruction. It organizes the field by perception tasks, discusses radar fundamentals, data representations, and quality‑enhancement methods, and compares radar‑only learning, multimodal fusion, and cross‑modal supervision. The paper also summarizes datasets, annotations, evaluation protocols, and outlines common challenges and future research directions.
By Xumin Wu, Jun Zhou, Jilin Mei, Chen Min, Yu Hu
The paper presents a stereo 4D Radar framework for 3D object detection that uses geometric disparity between left and right radars to estimate absolute velocity and fuse complementary features. It addresses clutter, ghost reflections, and sparse data issues inherent in raw 4D Radar signals. Experiments on an in‑house dataset show significant gains, improving AP 3D by 8.82 points and AP BEV by 9.0 points over mono‑radar baselines.
By Seung-Hyun Song, Dong-Hee Paek, Woong-Chan Byun, Seung-Hyun Kong
arXiv:2607. 09629v1 Announce Type: cross Abstract: Reliable autonomous driving requires full-scene perception that couples foreground objects with dense semantic layout.
By Xiaokai Bai, Lianqing Zheng, Runwei Guan, Songkai Wang, Siyuan Cao, Hui-liang Shen
The paper introduces RGBTR‑Motion, a new benchmark that synchronizes RGB, thermal, and radar data with dense moving‑instance masks and consistent identities for surveillance scenes. It also presents SAM‑Radar, a segmentation and tracking framework that fuses calibrated RGBT features with radar returns, using radar‑aware detection and motion supervision to reject clutter and maintain identity continuity during low visibility or occlusion. SAM‑Radar achieves state‑of‑the‑art performance, improving IoU, F1‑50, MOTA, HOTA, and IDF1 metrics over existing methods.
By Jue Wang, Xuan Wang, Hao Zhou, Ruixiang Zhou, Yixuan Zhou, Tianshuo Yuan, Jieming Ma, Jie Zhang, Fei Luo
arXiv:2512. 17897v2 Announce Type: replace-cross Abstract: We present RadarGen, a diffusion model for synthesizing realistic automotive radar point clouds from multi-view camera imagery.
By Tomer Borreda, Fangqiang Ding, Sanja Fidler, Shengyu Huang, Or Litany
This study explores whether spatial structure can be learned directly from pre-beamforming per-antenna range-Doppler (RD) radar measurements, bypassing traditional beamforming steps. Using a 6‑TX × 8‑RX automotive radar with a chirp‑sequence FMCW transmit scheme, the authors train a dual‑chirp shared‑weight encoder on raw RD tensors and evaluate spatial recoverability via bird’s‑eye‑view occupancy maps. Experiments across different transmit configurations (A‑only, B‑only, A+B) and receive apertures demonstrate that meaningful spatial structure is indeed recoverable through learned spatial mixing, without hand‑crafted signal‑processing stages.
By George Sebastian, Philipp Berthold, Bianca Forkel, Leon Pohl, Mirko Maehlisch
arXiv:2602. 11554v3 Announce Type: replace-cross Abstract: How far can 3D object detection go using 4D radar alone?
By Yichun Xiao, Runwei Guan, Jin Jin, Fangqiang Ding
The paper presents a stereo 4D Radar-based framework for 3D object detection that uses the geometric disparity between left and right radars to estimate absolute velocity and fuse complementary features. It addresses challenges such as clutter, ghost reflections, and sparse data caused by preprocessing, and improves motion state estimation beyond the radial Doppler component. Experiments on an in‑house stereo 4D Radar dataset show significant gains of 8.82 points in AP 3D and 9.0 points in AP BEV over mono‑radar baselines.
arXiv:2607. 04541v1 Announce Type: cross Abstract: Camera-radar (CR) fusion is a practical sensing configuration for autonomous driving, but existing models are typically trained with task-specific supervision, limiting reusable representation learning.
By Jingyu Song, Yi Liu, Katherine A. Skinner
arXiv:2609.22857v1 Announce Type: new
Abstract: Dynamic object segmentation and ego-motion estimation are closely coupled problems in autonomous driving, as accurate ego-motion estimation typically r...
By Astik Srivastava, Suhani Grover, Avinash Sharma, Madhava Krishna
arXiv:2609.21000v1 Announce Type: cross
Abstract: Spinning frequency-modulated continuous-wave (FMCW) radars have been gaining popularity in autonomous vehicle perception on account of their robustne...
By Eric Xie, Daniil Lisus, Timothy D. Barfoot