{"id":"https://openalex.org/W4391768793","doi":"https://doi.org/10.1109/itsc57777.2023.10422466","title":"Self-supervised 4-D Radar Odometry for Autonomous Vehicles","display_name":"Self-supervised 4-D Radar Odometry for Autonomous Vehicles","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391768793","doi":"https://doi.org/10.1109/itsc57777.2023.10422466"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422466","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":"article","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/A5035507581","display_name":"Huanyu Zhou","orcid":"https://orcid.org/0000-0002-4274-5540"},"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":"Huanyu Zhou","raw_affiliation_strings":["School of Automotive Studies, Tongji University,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024897363","display_name":"Shouyi Lu","orcid":"https://orcid.org/0000-0001-5055-1802"},"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":"Shouyi Lu","raw_affiliation_strings":["School of Automotive Studies, Tongji University,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091083594","display_name":"Guirong Zhuo","orcid":"https://orcid.org/0009-0003-1733-2642"},"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":"Guirong Zhuo","raw_affiliation_strings":["School of Automotive Studies, Tongji University,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.1241,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.93363719,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"764","last_page":"769"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9786999821662903,"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":0.9786999821662903,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9524000287055969,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9452000260353088,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/odometry","display_name":"Odometry","score":0.774645984172821},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.640104353427887},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6357627511024475},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5952648520469666},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5763503313064575},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.48907333612442017},{"id":"https://openalex.org/keywords/radar-lock-on","display_name":"Radar lock-on","score":0.43080437183380127},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.39997804164886475},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.38217905163764954},{"id":"https://openalex.org/keywords/radar-engineering-details","display_name":"Radar engineering details","score":0.3685908317565918},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32130923867225647},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17099279165267944},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.16600239276885986},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.090800940990448}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.774645984172821},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.640104353427887},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6357627511024475},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5952648520469666},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5763503313064575},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.48907333612442017},{"id":"https://openalex.org/C185565061","wikidata":"https://www.wikidata.org/wiki/Q6878284","display_name":"Radar lock-on","level":5,"score":0.43080437183380127},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.39997804164886475},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.38217905163764954},{"id":"https://openalex.org/C134406370","wikidata":"https://www.wikidata.org/wiki/Q832005","display_name":"Radar engineering details","level":4,"score":0.3685908317565918},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32130923867225647},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17099279165267944},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.16600239276885986},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.090800940990448}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc57777.2023.10422466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422466","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":[{"score":0.44999998807907104,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G5702282270","display_name":null,"funder_award_id":"U19A2069","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1988874269","https://openalex.org/W2063549868","https://openalex.org/W2150066425","https://openalex.org/W2962771259","https://openalex.org/W2963121255","https://openalex.org/W2963995491","https://openalex.org/W2983104849","https://openalex.org/W3034321406","https://openalex.org/W3091498919","https://openalex.org/W3097139398","https://openalex.org/W3194973398","https://openalex.org/W3202821542","https://openalex.org/W4205412097","https://openalex.org/W4210674219","https://openalex.org/W4220903146","https://openalex.org/W4221161771","https://openalex.org/W4221161772","https://openalex.org/W4234552385","https://openalex.org/W4234979662","https://openalex.org/W4249866455","https://openalex.org/W6739778489","https://openalex.org/W6763422710","https://openalex.org/W6771922894","https://openalex.org/W6785651463"],"related_works":["https://openalex.org/W4285814362","https://openalex.org/W604796468","https://openalex.org/W2538429790","https://openalex.org/W3207185864","https://openalex.org/W2135972757","https://openalex.org/W2438042271","https://openalex.org/W4296425733","https://openalex.org/W3185046528","https://openalex.org/W2309517819","https://openalex.org/W3091813531"],"abstract_inverted_index":{"Reliable":[0],"ego-motion":[1],"estimation":[2,144],"is":[3,24],"a":[4,96,104,124,134,141,160],"crucial":[5],"technology":[6],"for":[7],"autonomous":[8],"vehicles.":[9],"While":[10],"progress":[11],"has":[12],"been":[13],"made":[14],"in":[15,27],"deep":[16,71],"odometry":[17,31,44],"systems":[18],"utilizing":[19],"cameras":[20],"and":[21,39,54,153],"LiDAR,":[22],"there":[23],"significant":[25],"potential":[26],"exploring":[28],"4-D":[29,98],"radar":[30,49,61,87,99,130,136],"due":[32],"to":[33,64,70,107,132,146,163],"radar's":[34],"robustness":[35],"against":[36],"adverse":[37],"weather":[38],"lighting":[40],"conditions.":[41],"Nevertheless,":[42],"radar-based":[43],"faces":[45],"several":[46,117],"challenges:":[47],"1)":[48],"point":[50,58,113,142],"clouds":[51],"are":[52],"sparser":[53],"noisier":[55],"than":[56],"LiDAR":[57],"clouds;":[59],"2)":[60],"points":[62],"belonging":[63],"moving":[65,151],"objects":[66,152],"will":[67],"cause":[68],"interference":[69,149],"odometry;":[72],"3)":[73],"the":[74,81,148,165],"dependence":[75],"on":[76,129,159],"massive":[77],"labeled":[78],"data":[79],"limits":[80],"practical":[82],"application":[83],"of":[84,150,168],"supervised":[85],"learning-based":[86],"odometry.":[88,100,137],"To":[89],"address":[90],"these":[91],"challenges,":[92],"this":[93],"work":[94],"proposes":[95],"self-supervised":[97,135],"Specifically,":[101],"we":[102,122,139],"employ":[103],"multi-scale":[105],"approach":[106],"extract":[108],"robust":[109],"features":[110],"from":[111],"sparse":[112],"clouds.":[114],"Besides":[115],"introducing":[116],"traditional":[118],"LiDAR-based":[119],"loss":[120,127],"functions,":[121],"design":[123],"novel":[125],"velocity-aware":[126],"based":[128],"characteristics":[131],"achieve":[133],"Moreover,":[138],"develop":[140],"confidence":[143],"module":[145],"reduce":[147],"noise.":[154],"We":[155],"conduct":[156],"comprehensive":[157],"experiments":[158],"public":[161],"dataset":[162],"demonstrate":[164],"advanced":[166],"performance":[167],"our":[169],"method.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}