# Accuracy- and Real-Time-Aware 4D Radar Preprocessing for Autonomous Driving Perception Systems

arXiv: https://arxiv.org/abs/2609.18542 · HTML: https://mlsanity.com/paper/2609.18542/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 12 of its 27 references that are in the map.
- First posted on arXiv 16 Sep 2026.

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

- [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)
- [K-Radar: 4D Radar Object Detection for Autonomous Driving in Various Weather Conditions](https://mlsanity.com/paper/2206.08171/) (2022)
- [A Tutorial on Kernel Density Estimation and Recent Advances](https://mlsanity.com/paper/1704.03924/) (2017)
- [SMURF: Spatial Multi-Representation Fusion for 3D Object Detection with 4D Imaging Radar](https://mlsanity.com/paper/2307.10784/) (2023)
- [Dual Radar: A Multi-modal Dataset with Dual 4D Radar for Autonomous Driving](https://mlsanity.com/paper/2310.07602/) (2023)
- [NetScore: Towards Universal Metrics for Large-scale Performance Analysis of Deep Neural Networks for Practical On-Device Edge Usage](https://mlsanity.com/paper/1806.05512/) (2018)
- [RadarPillars: Efficient Object Detection from 4D Radar Point Clouds](https://mlsanity.com/paper/2408.05020/) (2024)
- [A Deep Automotive Radar Detector using the RaDelft Dataset](https://mlsanity.com/paper/2406.04723/) (2024)
- [Data-driven Estimation of Sinusoid Frequencies](https://mlsanity.com/paper/1906.00823/) (2019)
- [DoppDrive: Doppler-Driven Temporal Aggregation for Improved Radar Object Detection](https://mlsanity.com/paper/2508.12330/) (2025)
- [RADE-Net: Robust Attention Network for Radar-Only Object Detection in Adverse Weather](https://mlsanity.com/paper/2602.19994/) (2026)

## Abstract (arXiv)

4D radar has emerged as a promising next-generation sensor for improving the robustness of autonomous driving perception systems because of its stable sensing capability under adverse weather conditions. However, deploying 4D radar in embedded environments with limited hardware resources requires radar-representation preprocessing that jointly considers perception accuracy, real-time performance, and computational complexity. This paper proposes a preprocessing framework for 4D-radar-based 3D object detection. First, Percentile-based 3D Shape Preservation (P3DP) extracts point clouds from radar tensors while preserving object-shape information and suppressing noise and false alarms. Second, Multi-frame-based Noise Point Discrimination using Kernel Density Estimation (MF-KDE) improves the density and reliability of sparse radar point clouds. Finally, Embedded & NetScore (ENS) evaluates suitability for embedded deployment by jointly considering accuracy, real-time performance, adverse-weather robustness, and model complexity.