# Stereo 4D Radar for 3D Object Detection: Integrating Geometric Alignment and Absolute Velocity Estimation

arXiv: https://arxiv.org/abs/2609.02560 · HTML: https://mlsanity.com/paper/2609.02560/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 19 of its 39 references that are in the map.
- First posted on arXiv 2 Sep 2026.

## Builds on (most cited first, 19 of 19)

- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection](https://mlsanity.com/paper/1912.13192/) (2019)
- [BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation](https://mlsanity.com/paper/2205.13542/) (2022)
- [CenterFusion: Center-based Radar and Camera Fusion for 3D Object Detection](https://mlsanity.com/paper/2011.04841/) (2020)
- [K-Radar: 4D Radar Object Detection for Autonomous Driving in Various Weather Conditions](https://mlsanity.com/paper/2206.08171/) (2022)
- [Perception and Sensing for Autonomous Vehicles Under Adverse Weather Conditions: A Survey](https://mlsanity.com/paper/2112.08936/) (2021)
- [TJ4DRadSet: A 4D Radar Dataset for Autonomous Driving](https://mlsanity.com/paper/2204.13483/) (2022)
- [Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments](https://mlsanity.com/paper/2109.13494/) (2021)
- [Raw High-Definition Radar for Multi-Task Learning](https://mlsanity.com/paper/2112.10646/) (2021)
- [SMURF: Spatial Multi-Representation Fusion for 3D Object Detection with 4D Imaging Radar](https://mlsanity.com/paper/2307.10784/) (2023)
- [Robustness of Object Detectors in Degrading Weather Conditions](https://mlsanity.com/paper/2106.08795/) (2021)
- [RSS-Net: Weakly-Supervised Multi-Class Semantic Segmentation with FMCW Radar](https://mlsanity.com/paper/2004.03451/) (2020)
- [Benchmarking Image Sensors Under Adverse Weather Conditions for Autonomous Driving](https://mlsanity.com/paper/1912.03238/) (2019)
- [RaTrack: Moving Object Detection and Tracking with 4D Radar Point Cloud](https://mlsanity.com/paper/2309.09737/) (2023)
- [MVFAN: Multi-View Feature Assisted Network for 4D Radar Object Detection](https://mlsanity.com/paper/2310.16389/) (2023)
- [MUFASA: Multi-View Fusion and Adaptation Network with Spatial Awareness for Radar Object Detection](https://mlsanity.com/paper/2408.00565/) (2024)
- [Efficient 4D Radar Data Auto-labeling Method using LiDAR-based Object Detection Network](https://mlsanity.com/paper/2407.04709/) (2024)

## Abstract (arXiv)

Four-dimensional (4D) Radar is a powerful sensing modality capable of detecting surrounding three-dimensional (3D) objects under diverse weather conditions and providing Doppler-based motion information. However, raw 4D Radar signals contain significant clutter from road surfaces, guardrails, and surrounding vehicles, along with multipath-induced ghost reflections and the receiver's inherent noise floor. Consequently, preprocessing algorithms designed to remove such invalid measurements often make the Radar data excessively sparse. Moreover, the Doppler measurements provided by 4D Radar describe only the radial component of an object's velocity, limiting their ability to recover the full motion state. In this paper, we introduce a stereo 4D Radar-based 3D object detection framework that exploits the geometric disparity between left and right Radars to estimate the absolute velocity of objects and achieve more robust perception through the fusion of their complementary features. The effectiveness of the proposed framework is validated on our in-house stereo 4D Radar dataset, demonstrating performance gains of 8.82 points in AP 3D and 9.0 points in AP BEV over state-of-the-art mono 4D Radar baselines. These results demonstrate that absolute velocity estimation combined with stereo geometry-aware feature fusion leads to substantial improvements in 3D object detection.