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
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: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
arXiv:2606. 09634v1 Announce Type: cross Abstract: 3D object detection is the backbone of perception for automated vehicles (AV) and broader intelligent transportation systems applications.
By Debojyoti Biswas, Xianbiao Hu
3D object detection is the backbone of perception for automated vehicles (AV) and broader intelligent transportation systems applications. Long-range detection is challenging because sensing evidence is sparse; yet this ``long-range'' scenario is routine in traffic.
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