{"id":"https://openalex.org/W4416749742","doi":"https://doi.org/10.1109/iros60139.2025.11246399","title":"ELMAR: Enhancing LiDAR Detection with 4D Radar Motion Awareness and Cross-modal Uncertainty","display_name":"ELMAR: Enhancing LiDAR Detection with 4D Radar Motion Awareness and Cross-modal Uncertainty","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749742","doi":"https://doi.org/10.1109/iros60139.2025.11246399"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246399","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246399","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5025586107","display_name":"Xiangyuan Peng","orcid":"https://orcid.org/0009-0007-0742-8404"},"institutions":[{"id":"https://openalex.org/I137594350","display_name":"Infineon Technologies (Germany)","ror":"https://ror.org/005kw6t15","country_code":"DE","type":"company","lineage":["https://openalex.org/I137594350"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Xiangyuan Peng","raw_affiliation_strings":["Technical University of Munich and Infineon Technologies AG"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich and Infineon Technologies AG","institution_ids":["https://openalex.org/I137594350"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088861879","display_name":"Miao Tang","orcid":"https://orcid.org/0000-0001-9240-6814"},"institutions":[{"id":"https://openalex.org/I137594350","display_name":"Infineon Technologies (Germany)","ror":"https://ror.org/005kw6t15","country_code":"DE","type":"company","lineage":["https://openalex.org/I137594350"]},{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"Miao Tang","raw_affiliation_strings":["China University of Geosciences (Wuhan) Bierzynski Kay is with Infineon Technologies AG Lorenzo Servadei and Robert Wille are with the Technical University of Munich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China University of Geosciences (Wuhan) Bierzynski Kay is with Infineon Technologies AG Lorenzo Servadei and Robert Wille are with the Technical University of Munich","institution_ids":["https://openalex.org/I137594350","https://openalex.org/I3124059619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066914140","display_name":"Huawei Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I137594350","display_name":"Infineon Technologies (Germany)","ror":"https://ror.org/005kw6t15","country_code":"DE","type":"company","lineage":["https://openalex.org/I137594350"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Huawei Sun","raw_affiliation_strings":["Technical University of Munich and Infineon Technologies AG"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich and Infineon Technologies AG","institution_ids":["https://openalex.org/I137594350"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Bierzynski Kay","orcid":null},"institutions":[{"id":"https://openalex.org/I137594350","display_name":"Infineon Technologies (Germany)","ror":"https://ror.org/005kw6t15","country_code":"DE","type":"company","lineage":["https://openalex.org/I137594350"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bierzynski Kay","raw_affiliation_strings":["Technical University of Munich and Infineon Technologies AG"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich and Infineon Technologies AG","institution_ids":["https://openalex.org/I137594350"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015292011","display_name":"Lorenzo Servadei","orcid":"https://orcid.org/0000-0003-4322-834X"},"institutions":[{"id":"https://openalex.org/I137594350","display_name":"Infineon Technologies (Germany)","ror":"https://ror.org/005kw6t15","country_code":"DE","type":"company","lineage":["https://openalex.org/I137594350"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lorenzo Servadei","raw_affiliation_strings":["Technical University of Munich and Infineon Technologies AG"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich and Infineon Technologies AG","institution_ids":["https://openalex.org/I137594350"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004214923","display_name":"Robert Wille","orcid":"https://orcid.org/0000-0002-4993-7860"},"institutions":[{"id":"https://openalex.org/I137594350","display_name":"Infineon Technologies (Germany)","ror":"https://ror.org/005kw6t15","country_code":"DE","type":"company","lineage":["https://openalex.org/I137594350"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Robert Wille","raw_affiliation_strings":["Technical University of Munich and Infineon Technologies AG"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich and Infineon Technologies AG","institution_ids":["https://openalex.org/I137594350"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4136,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.8634568,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4939","last_page":"4945"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.5126000046730042,"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"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.5126000046730042,"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/T11038","display_name":"Advanced SAR Imaging Techniques","score":0.3165000081062317,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.04659999907016754,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8583999872207642},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.6287999749183655},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.531499981880188},{"id":"https://openalex.org/keywords/radar-engineering-details","display_name":"Radar engineering details","score":0.4577000141143799},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.4397999942302704},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.375},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.3716000020503998},{"id":"https://openalex.org/keywords/radar-tracker","display_name":"Radar tracker","score":0.3709000051021576}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8583999872207642},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6331999897956848},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.6287999749183655},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5525000095367432},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.531499981880188},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4941999912261963},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49410000443458557},{"id":"https://openalex.org/C134406370","wikidata":"https://www.wikidata.org/wiki/Q832005","display_name":"Radar engineering details","level":4,"score":0.4577000141143799},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.4397999942302704},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.375},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.3716000020503998},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.3709000051021576},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.35429999232292175},{"id":"https://openalex.org/C81076408","wikidata":"https://www.wikidata.org/wiki/Q229387","display_name":"3D radar","level":5,"score":0.32690000534057617},{"id":"https://openalex.org/C161475128","wikidata":"https://www.wikidata.org/wiki/Q6746448","display_name":"Man-portable radar","level":5,"score":0.3206999897956848},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.31929999589920044},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.30000001192092896},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.299699991941452},{"id":"https://openalex.org/C185565061","wikidata":"https://www.wikidata.org/wiki/Q6878284","display_name":"Radar lock-on","level":5,"score":0.2994999885559082},{"id":"https://openalex.org/C59584813","wikidata":"https://www.wikidata.org/wiki/Q1029234","display_name":"Continuous-wave radar","level":4,"score":0.29019999504089355},{"id":"https://openalex.org/C87360688","wikidata":"https://www.wikidata.org/wiki/Q740686","display_name":"Synthetic aperture radar","level":2,"score":0.28540000319480896},{"id":"https://openalex.org/C2984296375","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar systems","level":3,"score":0.2824999988079071},{"id":"https://openalex.org/C71052889","wikidata":"https://www.wikidata.org/wiki/Q16905219","display_name":"Early-warning radar","level":5,"score":0.27570000290870667},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.26840001344680786}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246399","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246399","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W2222512263","https://openalex.org/W2968296999","https://openalex.org/W3018295689","https://openalex.org/W3034314779","https://openalex.org/W3035346742","https://openalex.org/W3080980548","https://openalex.org/W3090434739","https://openalex.org/W3119635706","https://openalex.org/W3135126155","https://openalex.org/W4210674219","https://openalex.org/W4310078553","https://openalex.org/W4312511033","https://openalex.org/W4312934050","https://openalex.org/W4313028649","https://openalex.org/W4378696925","https://openalex.org/W4383066393","https://openalex.org/W4383108627","https://openalex.org/W4385506334","https://openalex.org/W4385835750","https://openalex.org/W4386051971","https://openalex.org/W4386076253","https://openalex.org/W4386076457","https://openalex.org/W4387185260","https://openalex.org/W4387245323","https://openalex.org/W4387448642","https://openalex.org/W4388660602","https://openalex.org/W4388895076","https://openalex.org/W4393032756","https://openalex.org/W4393149621","https://openalex.org/W4394564209","https://openalex.org/W4396877675","https://openalex.org/W4401326305","https://openalex.org/W4401414645","https://openalex.org/W4401417266","https://openalex.org/W4401634204","https://openalex.org/W4402353227","https://openalex.org/W4402592730","https://openalex.org/W4402727084","https://openalex.org/W4402727857","https://openalex.org/W4402754159","https://openalex.org/W4402795495","https://openalex.org/W4402915933","https://openalex.org/W4403780498","https://openalex.org/W4405179189","https://openalex.org/W4408353542","https://openalex.org/W4409368133","https://openalex.org/W4415796123"],"related_works":[],"abstract_inverted_index":{"LiDAR":[0,13,69,123],"and":[1,10,23,59,78,119,150],"4D":[2,18,38,74,86,102],"radar":[3,19,75,87,103],"are":[4,112],"widely":[5],"used":[6],"in":[7,146],"autonomous":[8],"driving":[9,154],"robotics.":[11],"While":[12],"provides":[14],"rich":[15],"spatial":[16],"information,":[17],"offers":[20],"velocity":[21],"measurement":[22],"remains":[24],"robust":[25],"under":[26],"adverse":[27],"conditions.":[28],"As":[29],"a":[30,68,92,158],"result,":[31],"increasing":[32],"studies":[33],"have":[34],"focused":[35],"on":[36,127],"the":[37,44,47,61,106,116,121,128,133,142,147,153],"radar-LiDAR":[39],"fusion":[40],"method":[41],"to":[42,100,114],"enhance":[43,101],"perception.":[45],"However,":[46],"misalignment":[48,118],"between":[49],"different":[50],"modalities":[51],"is":[52,88],"often":[53],"overlooked.":[54],"To":[55],"address":[56],"this":[57],"challenge":[58],"leverage":[60],"strengths":[62],"of":[63,109,135,144,162],"both":[64],"modalities,":[65],"we":[66],"propose":[67],"detection":[70],"framework":[71],"enhanced":[72],"by":[73],"motion":[76],"status":[77],"cross-modal":[79,117],"uncertainty.":[80],"The":[81],"object":[82],"movement":[83],"information":[84],"from":[85],"first":[89],"captured":[90],"using":[91],"Dynamic":[93],"Motion-Aware":[94],"Encoding":[95],"module":[96],"during":[97],"feature":[98],"extraction":[99],"predictions.":[104,124],"Subsequently,":[105],"instance-wise":[107],"uncertainties":[108],"bounding":[110],"boxes":[111],"estimated":[113],"mitigate":[115],"refine":[120],"final":[122],"Extensive":[125],"experiments":[126],"View-of-Delft":[129],"(VoD)":[130],"dataset":[131],"highlight":[132],"effectiveness":[134],"our":[136],"method,":[137],"achieving":[138],"state-of-the-art":[139],"performance":[140],"with":[141],"mAP":[143],"74.89%":[145],"entire":[148],"area":[149],"88.70%":[151],"within":[152],"corridor":[155],"while":[156],"maintaining":[157],"real-time":[159],"inference":[160],"speed":[161],"30.02":[163],"FPS.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-28T00:00:00"}