{"id":"https://openalex.org/W4401417388","doi":"https://doi.org/10.1109/icra57147.2024.10610929","title":"RadarCam-Depth: Radar-Camera Fusion for Depth Estimation with Learned Metric Scale","display_name":"RadarCam-Depth: Radar-Camera Fusion for Depth Estimation with Learned Metric Scale","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417388","doi":"https://doi.org/10.1109/icra57147.2024.10610929"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610929","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610929","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102305256","display_name":"Han Li","orcid":"https://orcid.org/0009-0006-8462-6108"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Li","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066926181","display_name":"Yukai Ma","orcid":"https://orcid.org/0000-0001-8135-9012"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yukai Ma","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064036708","display_name":"Yaqing Gu","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaqing Gu","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109728656","display_name":"Kewei Hu","orcid":"https://orcid.org/0009-0003-6140-9520"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kewei Hu","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021253568","display_name":"Yong Liu","orcid":"https://orcid.org/0000-0001-7748-3651"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Liu","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045415760","display_name":"Xingxing Zuo","orcid":"https://orcid.org/0000-0003-4158-3153"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xingxing Zuo","raw_affiliation_strings":["California Institute of Technology,Department of Computing and Mathematical Sciences,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Computing and Mathematical Sciences,USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":21.3627,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.99570302,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"10665","last_page":"10672"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6457250714302063},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.6027639508247375},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6017165184020996},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5780923366546631},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5692968964576721},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5424533486366272},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.5106776356697083},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.4777645170688629},{"id":"https://openalex.org/keywords/measured-depth","display_name":"Measured depth","score":0.43465813994407654},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3630256652832031},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3524821102619171},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.30127549171447754},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.15088260173797607},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1204356849193573},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.11534970998764038},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07365870475769043}],"concepts":[{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6457250714302063},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.6027639508247375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6017165184020996},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5780923366546631},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5692968964576721},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5424533486366272},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.5106776356697083},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.4777645170688629},{"id":"https://openalex.org/C113346285","wikidata":"https://www.wikidata.org/wiki/Q6804193","display_name":"Measured depth","level":2,"score":0.43465813994407654},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3630256652832031},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3524821102619171},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.30127549171447754},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15088260173797607},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1204356849193573},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.11534970998764038},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07365870475769043},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610929","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610929","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1964262399","https://openalex.org/W2078950386","https://openalex.org/W2108598243","https://openalex.org/W2153504150","https://openalex.org/W2194775991","https://openalex.org/W2905139627","https://openalex.org/W2955639361","https://openalex.org/W2961926014","https://openalex.org/W2963045776","https://openalex.org/W2963488291","https://openalex.org/W2964326562","https://openalex.org/W2969053624","https://openalex.org/W2971000934","https://openalex.org/W3003796433","https://openalex.org/W3034364596","https://openalex.org/W3034475171","https://openalex.org/W3035574168","https://openalex.org/W3081167590","https://openalex.org/W3094502228","https://openalex.org/W3129529899","https://openalex.org/W3129602731","https://openalex.org/W3132983546","https://openalex.org/W3166285241","https://openalex.org/W3168472259","https://openalex.org/W3172610252","https://openalex.org/W3194042845","https://openalex.org/W3196148789","https://openalex.org/W3197787375","https://openalex.org/W3206869601","https://openalex.org/W4214520160","https://openalex.org/W4214561781","https://openalex.org/W4225807319","https://openalex.org/W4383108704","https://openalex.org/W4383109552","https://openalex.org/W4385373773","https://openalex.org/W4386076432","https://openalex.org/W4386524116","https://openalex.org/W4390874218","https://openalex.org/W4391108796","https://openalex.org/W6767088534"],"related_works":["https://openalex.org/W2099421762","https://openalex.org/W2530546662","https://openalex.org/W2967030268","https://openalex.org/W2185253430","https://openalex.org/W4210345652","https://openalex.org/W2959160600","https://openalex.org/W1984333081","https://openalex.org/W2945063165","https://openalex.org/W4313855562","https://openalex.org/W2091422131"],"abstract_inverted_index":{"We":[0,77],"present":[1],"a":[2,15,19,79,128],"novel":[3],"approach":[4],"for":[5,82],"metric":[6,68],"dense":[7,40,67,87,125],"depth":[8,41,63,88,95,102,126,140,151],"estimation":[9,89,109,141,152],"based":[10],"on":[11,157],"the":[12,66,112,137,145,158],"fusion":[13,27],"of":[14,28,100,124,150],"single-view":[16],"image":[17,32,118],"and":[18,31,48,60,73,85,117,120,155,162,170],"sparse,":[20],"noisy":[21,74],"Radar":[22,30,75,105,115],"point":[23],"cloud.":[24],"The":[25],"direct":[26],"heterogeneous":[29],"data,":[33],"or":[34],"their":[35],"encodings,":[36],"tends":[37],"to":[38,57],"yield":[39],"maps":[42],"with":[43,65,90,103],"significant":[44],"artifacts,":[45],"blurred":[46],"boundaries,":[47],"suboptimal":[49],"accuracy.":[50],"To":[51],"circumvent":[52],"this":[53],"issue,":[54],"we":[55],"learn":[56],"augment":[58],"versatile":[59],"robust":[61],"monocular":[62,94,101],"prediction":[64],"scale":[69,98,108,122,129],"induced":[70],"from":[71],"sparse":[72,104],"data.":[76],"propose":[78],"Radar-Camera":[80,139],"framework":[81],"highly":[83],"accurate":[84],"fine-detailed":[86],"four":[91],"stages,":[92],"including":[93],"prediction,":[96],"global":[97],"alignment":[99],"points,":[106],"quasi-dense":[107],"through":[110],"learning":[111],"association":[113],"between":[114],"points":[116],"patches,":[119],"local":[121],"refinement":[123],"using":[127],"map":[130],"learner.":[131],"Our":[132,168],"proposed":[133],"method":[134],"significantly":[135],"outperforms":[136],"state-of-the-art":[138],"methods":[142],"by":[143,153],"reducing":[144],"mean":[146],"absolute":[147],"error":[148],"(MAE)":[149],"25.6%":[154],"40.2%":[156],"challenging":[159],"nuScenes":[160],"dataset":[161,171],"our":[163],"self-collected":[164],"ZJU-4DRadarCam":[165],"dataset,":[166],"respectively.":[167],"code":[169],"will":[172],"be":[173],"released":[174],"at":[175],"https://github.com/MMOCKING/RadarCam-Depth.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}