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Distant Vehicle Detection Using Radar and Vision

arXiv 1901.10951 ↗First posted 30 Jan 2019cs.ROcited by 44

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Abstract (arXiv)

For autonomous vehicles to be able to operate successfully they need to be aware of other vehicles with sufficient time to make safe, stable plans. Given the possible closing speeds between two vehicles, this necessitates the ability to accurately detect distant vehicles. Many current image-based object detectors using convolutional neural networks exhibit excellent performance on existing datasets such as KITTI. However, the performance of these networks falls when detecting small (distant) objects. We demonstrate that incorporating radar data can boost performance in these difficult situations. We also introduce an efficient automated method for training data generation using cameras of different focal lengths.

Key facts. Cited by 44 papers in the map (data through 7 Oct 2026). First posted on arXiv 30 Jan 2019.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 8; 2022: 11; 2023: 14; 2024: 8; 2025: 1; 2026: 2.

44 papers.

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  1. 2022BEVFusion: A Simple and Robust LiDAR-Camera Fusion Frameworkcited by 334
  2. 2022FUTR3D: A Unified Sensor Fusion Framework for 3D Detectioncited by 194
  3. 20223D Object Detection for Autonomous Driving: A Comprehensive Surveycited by 132
  4. 2021Multi-Modal 3D Object Detection in Autonomous Driving: a Surveycited by 63
  5. 2023Radar-Camera Fusion for Object Detection and Semantic Segmentation in Autonomous Driving: A Comprehensive Reviewcited by 57
  6. 2021Radar-Camera Pixel Depth Association for Depth Completioncited by 49
  7. 2022Bridging the View Disparity Between Radar and Camera Features for Multi-modal Fusion 3D Object Detectioncited by 46
  8. 2021Exploring Adversarial Robustness of Multi-Sensor Perception Systems in Self Drivingcited by 45
  9. 2023WaterScenes: A Multi-Task 4D Radar-Camera Fusion Dataset and Benchmarks for Autonomous Driving on Water Surfacescited by 34
  10. 2023Echoes Beyond Points: Unleashing the Power of Raw Radar Data in Multi-modality Fusioncited by 25
  11. 2021MmWave Radar and Vision Fusion for Object Detection in Autonomous Driving: A Reviewcited by 22
  12. 2022Boosting 3D Object Detection by Simulating Multimodality on Point Cloudscited by 22
32 more
  1. 2023Exploring Radar Data Representations in Autonomous Driving: A Comprehensive Reviewcited by 22
  2. 2022ImmFusion: Robust mmWave-RGB Fusion for 3D Human Body Reconstruction in All Weather Conditionscited by 21
  3. 2024Towards Dense and Accurate Radar Perception Via Efficient Cross-Modal Diffusion Modelcited by 17
  4. 2021Full-Velocity Radar Returns by Radar-Camera Fusioncited by 16
  5. 2022DeepFusion: A Robust and Modular 3D Object Detector for Lidars, Cameras and Radarscited by 16
  6. 2021Radar Voxel Fusion for 3D Object Detectioncited by 13
  7. 2022RadSegNet: A Reliable Approach to Radar Camera Fusioncited by 11
  8. 2021S3: Learnable Sparse Signal Superdensity for Guided Depth Estimationcited by 10
  9. 2021Radar Camera Fusion via Representation Learning in Autonomous Drivingcited by 9
  10. 2023Milestones in Autonomous Driving and Intelligent Vehicles Part II: Perception and Planningcited by 9
  11. 2024Radar and Camera Fusion for Object Detection and Tracking: A Comprehensive Surveycited by 9
  12. 2023Multi-Task Cross-Modality Attention-Fusion for 2D Object Detectioncited by 7
  13. 2023Structural Information Guided Multimodal Pre-training for Vehicle-centric Perceptioncited by 7
  14. 2024GET-UP: GEomeTric-aware Depth Estimation with Radar Points UPsamplingcited by 7
  15. 2022Boosting Single-Frame 3D Object Detection by Simulating Multi-Frame Point Cloudscited by 6
  16. 2025Ultra-High-Frequency Harmony: mmWave Radar and Event Camera Orchestrate Accurate Drone Landingcited by 6
  17. 2022Radar Guided Dynamic Visual Attention for Resource-Efficient RGB Object Detectioncited by 5
  18. 2023ClusterFusion: Leveraging Radar Spatial Features for Radar-Camera 3D Object Detection in Autonomous Vehiclescited by 5
  19. 2023Camera-Radar Perception for Autonomous Vehicles and ADAS: Concepts, Datasets and Metricscited by 4
  20. 2024GesturePrint: Enabling User Identification for mmWave-based Gesture Recognition Systemscited by 4
  21. 2023Robust Human Detection under Visual Degradation via Thermal and mmWave Radar Fusioncited by 3
  22. 2023RC-BEVFusion: A Plug-In Module for Radar-Camera Bird's Eye View Feature Fusioncited by 2
  23. 2023Robust Navigation with Cross-Modal Fusion and Knowledge Transfercited by 2
  24. 2024A Survey of Deep Learning Based Radar and Vision Fusion for 3D Object Detection in Autonomous Drivingcited by 2
  25. 2022Deep learning for radar data exploitation of autonomous vehiclecited by 1
  26. 2023Cross-Dataset Experimental Study of Radar-Camera Fusion in Bird's-Eye Viewcited by 1
  27. 2024A Resource Efficient Fusion Network for Object Detection in Bird's-Eye View using Camera and Raw Radar Datacited by 1
  28. 2023An Efficient Wide-Range Pseudo-3D Vehicle Detection Using A Single Cameracited by 0
  29. 2024Depth Estimation fusing Image and Radar Measurements with Uncertain Directionscited by 0
  30. 2024KAN-RCBEVDepth: A multi-modal fusion algorithm in object detection for autonomous drivingcited by 0
  31. 2026physfusion: A Transformer-based Dual-Stream Radar and Vision Fusion Framework for Open Water Surface Object Detectioncited by 0
  32. 2026RadarXFormer: Robust Object Detection via Cross-Dimension Fusion of 4D Radar Spectra and Images for Autonomous Drivingcited by 0