{"id":"https://openalex.org/W4416748573","doi":"https://doi.org/10.1109/iros60139.2025.11246504","title":"LGDD: Local-Global Synergistic Dual-Branch 3D Object Detection Using 4D Radar","display_name":"LGDD: Local-Global Synergistic Dual-Branch 3D Object Detection Using 4D Radar","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748573","doi":"https://doi.org/10.1109/iros60139.2025.11246504"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246504","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/A5111328615","display_name":"Xiaokai Bai","orcid":"https://orcid.org/0009-0002-8382-2976"},"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":"Xiaokai Bai","raw_affiliation_strings":["Zhejiang University,College of Information Science and Electronic Engineering,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Information Science and Electronic Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100735279","display_name":"Qin Yang","orcid":"https://orcid.org/0000-0002-3773-4169"},"institutions":[{"id":"https://openalex.org/I4210132079","display_name":"Hangzhou Wanxiang Polytechnic","ror":"https://ror.org/03sxnxp24","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210132079"]},{"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":"Qin Yang","raw_affiliation_strings":["Zhejiang University,Polytechnic Institute,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Polytechnic Institute,Hangzhou,China","institution_ids":["https://openalex.org/I4210132079","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075912149","display_name":"Zili Zhou","orcid":"https://orcid.org/0009-0008-9515-4024"},"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":"Zili Zhou","raw_affiliation_strings":["Zhejiang University,College of Information Science and Electronic Engineering,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Information Science and Electronic Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Fuyi Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210132079","display_name":"Hangzhou Wanxiang Polytechnic","ror":"https://ror.org/03sxnxp24","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210132079"]},{"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":"Fuyi Zhang","raw_affiliation_strings":["Zhejiang University,Polytechnic Institute,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Polytechnic Institute,Hangzhou,China","institution_ids":["https://openalex.org/I4210132079","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113687447","display_name":"Zhaohui Wu","orcid":"https://orcid.org/0009-0007-2734-7652"},"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":"Zhe Wu","raw_affiliation_strings":["Zhejiang University,College of Information Science and Electronic Engineering,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Information Science and Electronic Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058796919","display_name":"Si-Yuan Cao","orcid":"https://orcid.org/0000-0001-5143-4501"},"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":"Si-Yuan Cao","raw_affiliation_strings":["Zhejiang University,College of Information Science and Electronic Engineering,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Information Science and Electronic Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059478188","display_name":"Lianqing Zheng","orcid":"https://orcid.org/0000-0002-7186-4055"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lianqing Zheng","raw_affiliation_strings":["Tongji University,School of Automotive Studies,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tongji University,School of Automotive Studies,Shanghai,China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080176226","display_name":"Beinan Yu","orcid":"https://orcid.org/0000-0002-1557-7166"},"institutions":[{"id":"https://openalex.org/I168879160","display_name":"Zhejiang University of Science and Technology","ror":"https://ror.org/05mx0wr29","country_code":"CN","type":"education","lineage":["https://openalex.org/I168879160"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Beinan Yu","raw_affiliation_strings":["Zhejiang University,College of Computer Science and Technology,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Computer Science and Technology,Hangzhou,China","institution_ids":["https://openalex.org/I168879160"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100747363","display_name":"Wang Fang","orcid":"https://orcid.org/0000-0001-7628-1185"},"institutions":[{"id":"https://openalex.org/I4400573310","display_name":"Hangzhou City University","ror":"https://ror.org/01wck0s05","country_code":null,"type":"education","lineage":["https://openalex.org/I4400573310"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Wang","raw_affiliation_strings":["Hangzhou City University,School of Information and Electrical Engineering,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hangzhou City University,School of Information and Electrical Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I4400573310"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034206342","display_name":"Jie Bai","orcid":"https://orcid.org/0000-0002-3381-8744"},"institutions":[{"id":"https://openalex.org/I4400573310","display_name":"Hangzhou City University","ror":"https://ror.org/01wck0s05","country_code":null,"type":"education","lineage":["https://openalex.org/I4400573310"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Bai","raw_affiliation_strings":["Hangzhou City University,School of Information and Electrical Engineering,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hangzhou City University,School of Information and Electrical Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I4400573310"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020795553","display_name":"Hui\u2010Liang Shen","orcid":"https://orcid.org/0000-0001-8469-019X"},"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":"Hui-Liang Shen","raw_affiliation_strings":["Zhejiang University,College of Information Science and Electronic Engineering,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Information Science and Electronic Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"13318","last_page":"13325"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11038","display_name":"Advanced SAR Imaging Techniques","score":0.4000000059604645,"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/T11038","display_name":"Advanced SAR Imaging Techniques","score":0.4000000059604645,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.3303999900817871,"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/T10801","display_name":"Synthetic Aperture Radar (SAR) Applications and Techniques","score":0.037300001829862595,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5629000067710876},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5598999857902527},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5439000129699707},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4706000089645386},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.4602999985218048},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.4530999958515167},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4372999966144562},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.42340001463890076},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.41370001435279846}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.800599992275238},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6434000134468079},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6190000176429749},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5629000067710876},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5598999857902527},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5439000129699707},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4706000089645386},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.4602999985218048},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.4530999958515167},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4372999966144562},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.42340001463890076},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.41370001435279846},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.39309999346733093},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3880999982357025},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.34599998593330383},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3425000011920929},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.32710000872612},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.3158999979496002},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.3156999945640564},{"id":"https://openalex.org/C87360688","wikidata":"https://www.wikidata.org/wiki/Q740686","display_name":"Synthetic aperture radar","level":2,"score":0.3028999865055084},{"id":"https://openalex.org/C187191949","wikidata":"https://www.wikidata.org/wiki/Q1138496","display_name":"Profiling (computer programming)","level":2,"score":0.28870001435279846},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.2818000018596649},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.27790001034736633},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.27140000462532043},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.2605000138282776},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.25859999656677246},{"id":"https://openalex.org/C117623542","wikidata":"https://www.wikidata.org/wiki/Q621974","display_name":"Automatic target recognition","level":3,"score":0.25429999828338623}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246504","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":[{"id":"https://openalex.org/F4320324867","display_name":"Jinhua Science and Technology Bureau","ror":"https://ror.org/0347g4065"},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2949708697","https://openalex.org/W2968296999","https://openalex.org/W2988715931","https://openalex.org/W3167095230","https://openalex.org/W3170030651","https://openalex.org/W3171032126","https://openalex.org/W3208941688","https://openalex.org/W4210674219","https://openalex.org/W4308080461","https://openalex.org/W4312336128","https://openalex.org/W4378696925","https://openalex.org/W4383066393","https://openalex.org/W4385804883","https://openalex.org/W4386075590","https://openalex.org/W4387245323","https://openalex.org/W4387448642","https://openalex.org/W4388660602","https://openalex.org/W4402754159","https://openalex.org/W4405179189","https://openalex.org/W4408696400","https://openalex.org/W4409365720"],"related_works":[],"abstract_inverted_index":{"4D":[0,23,56],"millimeter-wave":[1],"radar":[2,24,82],"plays":[3],"a":[4,46,62,67,97,114],"pivotal":[5],"role":[6],"in":[7,16,27],"autonomous":[8],"driving":[9],"due":[10],"to":[11,73,102,117,145],"its":[12,34],"cost-effectiveness":[13],"and":[14,37,84,106,162],"robustness":[15],"adverse":[17],"weather.":[18],"However,":[19],"the":[20,91,104,133,159],"application":[21],"of":[22,128],"point":[25,69],"cloud":[26],"3D":[28,51],"perception":[29],"tasks":[30],"is":[31,167],"hindered":[32],"by":[33],"inherent":[35],"sparsity":[36,105],"noise.":[38],"To":[39],"address":[40,103],"these":[41],"challenges,":[42],"we":[43,59,95,112,131],"propose":[44],"LGDD,":[45],"novel":[47],"local-global":[48],"synergistic":[49],"dual-branch":[50],"object":[52],"detection":[53],"framework":[54],"using":[55],"radar.":[57],"Specifically,":[58],"first":[60],"introduce":[61],"point-based":[63],"branch,":[64,94],"which":[65],"utilize":[66],"voxel-attended":[68],"feature":[70,99],"extractor":[71],"(VPE)":[72],"integrate":[74],"semantic":[75],"segmentation":[76],"with":[77,136],"cluster":[78],"voting,":[79],"thereby":[80],"mitigating":[81],"noise":[83],"extracting":[85],"local-clustered":[86],"instances":[87,135],"features.":[88],"Then,":[89],"for":[90],"conventional":[92],"pillar-based":[93],"design":[96],"query-based":[98],"pre-fusion":[100],"(QFP)":[101],"enhance":[107],"global":[108,137],"context":[109,138],"representation.":[110],"Additionally,":[111],"devise":[113],"proposal":[115],"mask":[116],"filter":[118],"out":[119],"noisy":[120],"points,":[121],"enabling":[122],"more":[123],"focused":[124],"clustering":[125],"on":[126,158],"regions":[127],"interest.":[129],"Finally,":[130],"align":[132],"local":[134],"through":[139],"semantics-geometry":[140],"aware":[141],"fusion":[142],"(SGF)":[143],"module":[144],"achieve":[146],"comprehensive":[147],"scene":[148],"understanding.":[149],"Extensive":[150],"experiments":[151],"demonstrate":[152],"that":[153],"LGDD":[154],"achieves":[155],"state-of-the-art":[156],"performance":[157],"public":[160],"View-of-Delft":[161],"TJ4DRadSet":[163],"datasets.":[164],"Source":[165],"code":[166],"available":[168],"at":[169],"https://github.com/shawnnnkb/LGDD.":[170]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}