# Automatic Labelling & Semantic Segmentation with 4D Radar Tensors

arXiv: https://arxiv.org/abs/2501.11351 · HTML: https://mlsanity.com/paper/2501.11351/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 12 of its 17 references that are in the map.
- First posted on arXiv 20 Jan 2025.

## Builds on (most cited first, 12 of 12)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Rethinking Atrous Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1706.05587/) (2017)
- [3D U-Net: Learning Dense Volumetric Segmentation from Sparse Annotation](https://mlsanity.com/paper/1606.06650/) (2016)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [From Points to Parts: 3D Object Detection from Point Cloud with Part-aware and Part-aggregation Network](https://mlsanity.com/paper/1907.03670/) (2019)
- [OneFormer: One Transformer to Rule Universal Image Segmentation](https://mlsanity.com/paper/2211.06220/) (2022)
- [K-Radar: 4D Radar Object Detection for Autonomous Driving in Various Weather Conditions](https://mlsanity.com/paper/2206.08171/) (2022)
- [Patchwork++: Fast and Robust Ground Segmentation Solving Partial Under-Segmentation Using 3D Point Cloud](https://mlsanity.com/paper/2207.11919/) (2022)
- [A Deep Automotive Radar Detector using the RaDelft Dataset](https://mlsanity.com/paper/2406.04723/) (2024)
- [See Further Than CFAR: a Data-Driven Radar Detector Trained by Lidar](https://mlsanity.com/paper/2402.12970/) (2024)

## Built on by (most cited first, 1 of 1)

- [Reproducing and Extending RaDelft 4D Radar with Camera-Assisted Labels](https://mlsanity.com/paper/2512.02394/) (2025)

## Abstract (arXiv)

In this paper, an automatic labelling process is presented for automotive datasets, leveraging on complementary information from LiDAR and camera. The generated labels are then used as ground truth with the corresponding 4D radar data as inputs to a proposed semantic segmentation network, to associate a class label to each spatial voxel. Promising results are shown by applying both approaches to the publicly shared RaDelft dataset, with the proposed network achieving over 65% of the LiDAR detection performance, improving 13.2% in vehicle detection probability, and reducing 0.54 m in terms of Chamfer distance, compared to variants inspired from the literature.