{"id":"https://openalex.org/W4391769893","doi":"https://doi.org/10.1109/itsc57777.2023.10422147","title":"Radar Enlightens the Dark: Enhancing Low-Visibility Perception for Automated Vehicles with Camera-Radar Fusion","display_name":"Radar Enlightens the Dark: Enhancing Low-Visibility Perception for Automated Vehicles with Camera-Radar Fusion","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391769893","doi":"https://doi.org/10.1109/itsc57777.2023.10422147"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422147","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/itsc57777.2023.10422147","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","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/A5100736899","display_name":"Can Cui","orcid":"https://orcid.org/0009-0009-7082-3444"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Can Cui","raw_affiliation_strings":["Lyles School of Civil Engineering, Purdue University,West Lafayette,IN,USA,47906"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lyles School of Civil Engineering, Purdue University,West Lafayette,IN,USA,47906","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103050279","display_name":"Yunsheng Ma","orcid":"https://orcid.org/0000-0003-3933-2574"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yunsheng Ma","raw_affiliation_strings":["Lyles School of Civil Engineering, Purdue University,West Lafayette,IN,USA,47906"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lyles School of Civil Engineering, Purdue University,West Lafayette,IN,USA,47906","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040085446","display_name":"Juanwu Lu","orcid":"https://orcid.org/0000-0003-0831-1244"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Juanwu Lu","raw_affiliation_strings":["Lyles School of Civil Engineering, Purdue University,West Lafayette,IN,USA,47906"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lyles School of Civil Engineering, Purdue University,West Lafayette,IN,USA,47906","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038550389","display_name":"Ziran Wang","orcid":"https://orcid.org/0000-0003-2702-7150"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ziran Wang","raw_affiliation_strings":["Lyles School of Civil Engineering, Purdue University,West Lafayette,IN,USA,47906"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lyles School of Civil Engineering, Purdue University,West Lafayette,IN,USA,47906","institution_ids":["https://openalex.org/I219193219"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I219193219"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2726","last_page":"2733"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12389","display_name":"Infrared Target Detection Methodologies","score":0.9890999794006348,"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/T12389","display_name":"Infrared Target Detection Methodologies","score":0.9890999794006348,"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/T13869","display_name":"Ocular and Laser Science Research","score":0.9772999882698059,"subfield":{"id":"https://openalex.org/subfields/2731","display_name":"Ophthalmology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9660999774932861,"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/visibility","display_name":"Visibility","score":0.6561934351921082},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6151303052902222},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5881859064102173},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5790180563926697},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.504421591758728},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.4860883057117462},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4395342469215393},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4242195785045624},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3658500015735626},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13834229111671448},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1375504434108734},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11687928438186646},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.10574644804000854},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.08910858631134033}],"concepts":[{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.6561934351921082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6151303052902222},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5881859064102173},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5790180563926697},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.504421591758728},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.4860883057117462},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4395342469215393},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4242195785045624},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3658500015735626},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13834229111671448},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1375504434108734},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11687928438186646},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.10574644804000854},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.08910858631134033},{"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/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc57777.2023.10422147","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/itsc57777.2023.10422147","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","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":39,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1536680647","https://openalex.org/W2168125704","https://openalex.org/W2512113942","https://openalex.org/W2748021867","https://openalex.org/W2773330748","https://openalex.org/W2908305534","https://openalex.org/W2913340405","https://openalex.org/W2940863872","https://openalex.org/W2946459337","https://openalex.org/W2982770724","https://openalex.org/W2989940015","https://openalex.org/W3034543232","https://openalex.org/W3035574168","https://openalex.org/W3048912793","https://openalex.org/W3094502228","https://openalex.org/W3096609285","https://openalex.org/W3118293846","https://openalex.org/W3135204376","https://openalex.org/W3207615232","https://openalex.org/W3209459195","https://openalex.org/W3215100485","https://openalex.org/W4224259431","https://openalex.org/W4225537087","https://openalex.org/W4226305814","https://openalex.org/W4242753176","https://openalex.org/W4249989836","https://openalex.org/W4250232792","https://openalex.org/W4281749192","https://openalex.org/W4312894406","https://openalex.org/W4383066393","https://openalex.org/W4385245566","https://openalex.org/W4390874170","https://openalex.org/W6676783292","https://openalex.org/W6743710687","https://openalex.org/W6758892870","https://openalex.org/W6787984776","https://openalex.org/W6800902069","https://openalex.org/W6801826158"],"related_works":["https://openalex.org/W2392812199","https://openalex.org/W4200176076","https://openalex.org/W598185802","https://openalex.org/W2355516524","https://openalex.org/W2361471170","https://openalex.org/W2025616642","https://openalex.org/W1954972543","https://openalex.org/W4313855562","https://openalex.org/W2091422131","https://openalex.org/W2742737769"],"abstract_inverted_index":{"Sensor":[0],"fusion":[1],"is":[2,135,176],"a":[3,63,80,144,157,164],"crucial":[4],"augmentation":[5],"technique":[6],"for":[7,16],"improving":[8],"the":[9,50,77,92,130,138,149],"accuracy":[10],"and":[11,26,83,101,112,163],"reliability":[12],"of":[13,79,121,173],"perception":[14],"sys-tems":[15],"automated":[17],"vehicles":[18],"under":[19],"diverse":[20],"driving":[21],"conditions.":[22],"However,":[23],"adverse":[24],"weather":[25,99],"low-light":[27],"conditions":[28],"remain":[29],"challenging,":[30],"where":[31],"sensor":[32],"performance":[33,146],"degrades":[34],"significantly,":[35],"exposing":[36],"vehicle":[37],"safety":[38],"to":[39,71,128],"potential":[40],"risks.":[41],"Advanced":[42],"sensors":[43],"such":[44],"as":[45],"LiDARs":[46],"can":[47],"help":[48],"mitigate":[49],"issue":[51],"but":[52],"with":[53,95],"extremely":[54],"high":[55],"marginal":[56],"costs.":[57],"In":[58],"this":[59,174],"paper,":[60],"we":[61,116],"propose":[62],"novel":[64],"transformer-based":[65],"3D":[66],"object":[67],"detection":[68,113],"model":[69,105,123,142,151],"\u201cREDFormer\u201d":[70],"tackle":[72],"low":[73],"visibility":[74],"conditions,":[75],"exploiting":[76],"power":[78],"more":[81],"practi-cal":[82],"cost-effective":[84],"solution":[85],"by":[86],"leveraging":[87],"bird's-eye-view":[88],"camera-radar":[89],"fusion.":[90],"Using":[91],"nuScenes":[93],"dataset":[94],"multi-radar":[96],"point":[97],"clouds,":[98],"information,":[100],"time-of-day":[102],"data,":[103],"our":[104,141],"outperforms":[106],"state-of-the-art":[107],"(SOTA)":[108],"models":[109],"on":[110,125],"clas-sification":[111],"accuracy.":[114],"Finally,":[115],"provide":[117],"extensive":[118],"ablation":[119],"studies":[120],"each":[122],"component":[124],"their":[126],"contributions":[127],"address":[129],"above-mentioned":[131],"challenges.":[132],"Particularly,":[133],"it":[134],"shown":[136],"in":[137,152,160,167],"experiments":[139],"that":[140],"achieves":[143],"significant":[145],"improvement":[147],"over":[148],"baseline":[150],"low-visibility":[153],"scenarios,":[154],"specifically":[155],"exhibiting":[156],"31.31%":[158],"increase":[159],"rainy":[161],"scenes":[162],"46.99%":[165],"enhancement":[166],"nighttime":[168],"scenes.":[169],"The":[170],"source":[171],"code":[172],"study":[175],"publicly":[177],"available<sup":[178],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[179,181],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup><sup":[180],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>https://github.com/PurdueDigitalTwin/REDFormer.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}