{"id":"https://openalex.org/W4284973405","doi":"https://doi.org/10.1109/iv51971.2022.9827295","title":"Self-Supervised Velocity Estimation for Automotive Radar Object Detection Networks","display_name":"Self-Supervised Velocity Estimation for Automotive Radar Object Detection Networks","publication_year":2022,"publication_date":"2022-06-05","ids":{"openalex":"https://openalex.org/W4284973405","doi":"https://doi.org/10.1109/iv51971.2022.9827295"},"language":"en","primary_location":{"id":"doi:10.1109/iv51971.2022.9827295","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv51971.2022.9827295","pdf_url":null,"source":{"id":"https://openalex.org/S4363605370","display_name":"2022 IEEE Intelligent Vehicles Symposium (IV)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2207.03146","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051224241","display_name":"D. Niederl\u00f6hner","orcid":null},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Niederlohner","raw_affiliation_strings":["Robert Bosch GmbH, Cross-Domain Computing Solutions,Germany","Robert Bosch GmbH, Cross-Domain Computing Solutions, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robert Bosch GmbH, Cross-Domain Computing Solutions,Germany","institution_ids":["https://openalex.org/I889804353"]},{"raw_affiliation_string":"Robert Bosch GmbH, Cross-Domain Computing Solutions, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103110212","display_name":"Micha\u00ebl Ulrich","orcid":"https://orcid.org/0000-0003-0337-0157"},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Ulrich","raw_affiliation_strings":["Robert Bosch GmbH, Corporate Research,Germany","Robert Bosch GmbH, Corporate Research, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robert Bosch GmbH, Corporate Research,Germany","institution_ids":["https://openalex.org/I889804353"]},{"raw_affiliation_string":"Robert Bosch GmbH, Corporate Research, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103990809","display_name":"Sascha D. Braun","orcid":null},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sascha Braun","raw_affiliation_strings":["Robert Bosch GmbH, Cross-Domain Computing Solutions,Germany","Robert Bosch GmbH, Cross-Domain Computing Solutions, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robert Bosch GmbH, Cross-Domain Computing Solutions,Germany","institution_ids":["https://openalex.org/I889804353"]},{"raw_affiliation_string":"Robert Bosch GmbH, Cross-Domain Computing Solutions, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111455940","display_name":"Daniel K\u00f6hler","orcid":null},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]},{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Kohler","raw_affiliation_strings":["Robert Bosch GmbH, Cross-Domain Computing Solutions,Germany","Robert Bosch GmbH, Cross-Domain Computing Solutions, Germany","Leibniz University Hannover, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robert Bosch GmbH, Cross-Domain Computing Solutions,Germany","institution_ids":["https://openalex.org/I889804353"]},{"raw_affiliation_string":"Robert Bosch GmbH, Cross-Domain Computing Solutions, Germany","institution_ids":["https://openalex.org/I889804353"]},{"raw_affiliation_string":"Leibniz University Hannover, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059361814","display_name":"Florian Faion","orcid":null},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florian Faion","raw_affiliation_strings":["Robert Bosch GmbH, Corporate Research,Germany","Robert Bosch GmbH, Corporate Research, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robert Bosch GmbH, Corporate Research,Germany","institution_ids":["https://openalex.org/I889804353"]},{"raw_affiliation_string":"Robert Bosch GmbH, Corporate Research, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046877330","display_name":"Claudius Gl\u00e4ser","orcid":null},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Claudius Glaser","raw_affiliation_strings":["Robert Bosch GmbH, Corporate Research,Germany","Robert Bosch GmbH, Corporate Research, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robert Bosch GmbH, Corporate Research,Germany","institution_ids":["https://openalex.org/I889804353"]},{"raw_affiliation_string":"Robert Bosch GmbH, Corporate Research, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083024941","display_name":"Andr\u00e9 Treptow","orcid":null},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andre Treptow","raw_affiliation_strings":["Robert Bosch GmbH, Cross-Domain Computing Solutions,Germany","Robert Bosch GmbH, Cross-Domain Computing Solutions, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robert Bosch GmbH, Cross-Domain Computing Solutions,Germany","institution_ids":["https://openalex.org/I889804353"]},{"raw_affiliation_string":"Robert Bosch GmbH, Cross-Domain Computing Solutions, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016532646","display_name":"Holger Blume","orcid":"https://orcid.org/0000-0002-0640-6875"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Holger Blume","raw_affiliation_strings":["Leibniz University Hannover,Germany","Leibniz University Hannover, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover,Germany","institution_ids":["https://openalex.org/I114112103"]},{"raw_affiliation_string":"Leibniz University Hannover, Germany","institution_ids":["https://openalex.org/I114112103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.2345,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.97320217,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"352","last_page":"359"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11038","display_name":"Advanced SAR Imaging Techniques","score":0.9994999766349792,"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":0.9994999766349792,"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/T12740","display_name":"Gait Recognition and Analysis","score":0.9983999729156494,"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"}},{"id":"https://openalex.org/T11609","display_name":"Geophysical Methods and Applications","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/frame","display_name":"Frame (networking)","score":0.6918370127677917},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6629880666732788},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6043213605880737},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5982069969177246},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5080883502960205},{"id":"https://openalex.org/keywords/timestamp","display_name":"Timestamp","score":0.5074560046195984},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.4637812376022339},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.4602592885494232},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4448000490665436},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3423756957054138},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16566190123558044},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.10980680584907532},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08950191736221313}],"concepts":[{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.6918370127677917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6629880666732788},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6043213605880737},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5982069969177246},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5080883502960205},{"id":"https://openalex.org/C113954288","wikidata":"https://www.wikidata.org/wiki/Q186885","display_name":"Timestamp","level":2,"score":0.5074560046195984},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.4637812376022339},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.4602592885494232},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4448000490665436},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3423756957054138},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16566190123558044},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.10980680584907532},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08950191736221313},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iv51971.2022.9827295","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv51971.2022.9827295","pdf_url":null,"source":{"id":"https://openalex.org/S4363605370","display_name":"2022 IEEE Intelligent Vehicles Symposium (IV)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2207.03146","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2207.03146","pdf_url":"https://arxiv.org/pdf/2207.03146","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2207.03146","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2207.03146","pdf_url":"https://arxiv.org/pdf/2207.03146","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W1921363914","https://openalex.org/W2110806706","https://openalex.org/W2193145675","https://openalex.org/W2194775991","https://openalex.org/W2565639579","https://openalex.org/W2774756930","https://openalex.org/W2798930779","https://openalex.org/W2798965597","https://openalex.org/W2888319965","https://openalex.org/W2890684032","https://openalex.org/W2903534429","https://openalex.org/W2939308603","https://openalex.org/W2963150697","https://openalex.org/W2963727135","https://openalex.org/W2968296999","https://openalex.org/W2973595938","https://openalex.org/W2974922121","https://openalex.org/W2990710319","https://openalex.org/W2995549977","https://openalex.org/W2999423154","https://openalex.org/W3034831589","https://openalex.org/W3035574168","https://openalex.org/W3084655389","https://openalex.org/W3085981137","https://openalex.org/W3099746624","https://openalex.org/W3103612787","https://openalex.org/W3105073457","https://openalex.org/W3106250896","https://openalex.org/W3108136096","https://openalex.org/W3115436181","https://openalex.org/W3118132944","https://openalex.org/W3118147824","https://openalex.org/W3118479569","https://openalex.org/W3120815051","https://openalex.org/W3120891544","https://openalex.org/W3137763535","https://openalex.org/W3167095230","https://openalex.org/W3172931637","https://openalex.org/W3173916380","https://openalex.org/W3174286304","https://openalex.org/W3176740453","https://openalex.org/W3208941688","https://openalex.org/W3211855636","https://openalex.org/W3212045733","https://openalex.org/W4214736753","https://openalex.org/W4286906423","https://openalex.org/W4287863809","https://openalex.org/W6639937641","https://openalex.org/W6745896446","https://openalex.org/W6750838837","https://openalex.org/W6751145173","https://openalex.org/W6771471907","https://openalex.org/W6774701459"],"related_works":["https://openalex.org/W2060561905","https://openalex.org/W1417711376","https://openalex.org/W1986883493","https://openalex.org/W2469862403","https://openalex.org/W2166378262","https://openalex.org/W2035891203","https://openalex.org/W4379524643","https://openalex.org/W2367807705","https://openalex.org/W4285233590","https://openalex.org/W4321784794"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,108,138,152,164,193,229,243],"method":[4,23,206,221,245],"to":[5,58,67,104,136,154,166],"learn":[6],"the":[7,35,49,82,94,99,105,112,116,119,123,127,131,143,157,168,204,212,219,224],"Cartesian":[8,50],"velocity":[9,90,171,201,225,238,250],"of":[10,28,98,107,122,130,160,177,207,228],"objects":[11],"using":[12,75,111],"an":[13,69],"object":[14,70],"detection":[15,71,146,187],"network":[16,72,147],"on":[17,86,211],"automotive":[18],"radar":[19,199],"data.":[20],"The":[21,63,145],"proposed":[22,220],"is":[24,66,149,190],"self-supervised":[25,139,205],"in":[26],"terms":[27],"generating":[29],"its":[30],"own":[31],"training":[32,140,179,185],"signal":[33,141],"for":[34,41,48,89,142,156],"velocities.":[36,144],"Labels":[37,47],"are":[38,56,60,102,134],"only":[39,180,248],"required":[40],"single-frame,":[42],"oriented":[43],"bounding":[44],"boxes":[45],"(OBBs).":[46],"velocities":[51,74,114,189],"or":[52],"contiguous":[53],"sequences,":[54],"which":[55,246],"expensive":[57,237],"obtain,":[59],"not":[61,235],"required.":[62],"general":[64],"idea":[65],"pre-train":[68],"without":[73],"single-frame":[76],"OBB":[77,84,96,128,181,186],"labels,":[78],"and":[79,115,126,163,188],"then":[80],"exploit":[81],"network\u2019s":[83,95],"predictions":[85,97,129],"unlabelled":[87,100,124],"data":[88],"training.":[91],"In":[92],"detail,":[93],"frames":[101],"updated":[103,120],"timestamp":[106],"labelled":[109,132],"frame":[110,125,133],"predicted":[113],"distances":[117],"between":[118],"OBBs":[121],"used":[135],"generate":[137],"architecture":[148],"extended":[150],"by":[151,184],"module":[153,165],"account":[155],"temporal":[158],"relation":[159],"multiple":[161],"scans":[162],"represent":[167],"radars\u2019":[169],"radial":[170,200,249],"measurements":[172,202,251],"explicitly.":[173],"A":[174],"twostep":[175],"approach":[176],"first":[178],"detection,":[182],"followed":[183],"used.":[191],"Further,":[192],"pre-training":[194],"with":[195],"pseudo-labels":[196],"generated":[197],"from":[198],"bootstraps":[203],"this":[208],"paper.":[209],"Experiments":[210],"publicly":[213],"available":[214],"nuScenes":[215],"dataset":[216],"show":[217],"that":[218],"almost":[222],"reaches":[223],"estimation":[226],"performance":[227],"fully":[230],"supervised":[231],"training,":[232],"but":[233],"does":[234],"require":[236],"labels.":[239,253],"Furthermore,":[240],"we":[241],"outperform":[242],"baseline":[244],"uses":[247],"as":[252]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
