{"id":"https://openalex.org/W4400113116","doi":"https://doi.org/10.1109/jstsp.2024.3420234","title":"A Robust Robot Perception Framework for Complex Environments Using Multiple mmWave Radars","display_name":"A Robust Robot Perception Framework for Complex Environments Using Multiple mmWave Radars","publication_year":2024,"publication_date":"2024-04-01","ids":{"openalex":"https://openalex.org/W4400113116","doi":"https://doi.org/10.1109/jstsp.2024.3420234"},"language":"en","primary_location":{"id":"doi:10.1109/jstsp.2024.3420234","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jstsp.2024.3420234","pdf_url":null,"source":{"id":"https://openalex.org/S42167783","display_name":"IEEE Journal of Selected Topics in Signal Processing","issn_l":"1932-4553","issn":["1932-4553","1941-0484"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal of Selected Topics in Signal Processing","raw_type":"journal-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/A5017134522","display_name":"Hongyu Chen","orcid":"https://orcid.org/0009-0009-8553-301X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyu Chen","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0009-8553-301X","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100728989","display_name":"Yimin Liu","orcid":"https://orcid.org/0000-0002-8947-1268"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yimin Liu","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8947-1268","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074480992","display_name":"Yuwei Cheng","orcid":"https://orcid.org/0000-0002-6819-2075"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuwei Cheng","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6819-2075","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.3275,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.95688601,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"18","issue":"3","first_page":"380","last_page":"395"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9965999722480774,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/computer-science","display_name":"Computer science","score":0.7032380700111389},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5620614886283875},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5032288432121277},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4469986855983734},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4313699007034302},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.42899784445762634},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.41815757751464844},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.16442430019378662},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12747451663017273}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7032380700111389},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5620614886283875},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5032288432121277},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4469986855983734},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4313699007034302},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.42899784445762634},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.41815757751464844},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.16442430019378662},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12747451663017273},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jstsp.2024.3420234","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jstsp.2024.3420234","pdf_url":null,"source":{"id":"https://openalex.org/S42167783","display_name":"IEEE Journal of Selected Topics in Signal Processing","issn_l":"1932-4553","issn":["1932-4553","1941-0484"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal of Selected Topics in Signal Processing","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W595851582","https://openalex.org/W1582306910","https://openalex.org/W1980529480","https://openalex.org/W2015442982","https://openalex.org/W2038701704","https://openalex.org/W2085261163","https://openalex.org/W2087070363","https://openalex.org/W2099319707","https://openalex.org/W2110806706","https://openalex.org/W2158662637","https://openalex.org/W2343731507","https://openalex.org/W2461937780","https://openalex.org/W2745859992","https://openalex.org/W2890714858","https://openalex.org/W2904826208","https://openalex.org/W2964249591","https://openalex.org/W2965215408","https://openalex.org/W2979810270","https://openalex.org/W3015235064","https://openalex.org/W3081149645","https://openalex.org/W3087767329","https://openalex.org/W3090925395","https://openalex.org/W3108136096","https://openalex.org/W3117040724","https://openalex.org/W3121222079","https://openalex.org/W3124420883","https://openalex.org/W3129245057","https://openalex.org/W3167214600","https://openalex.org/W3186729138","https://openalex.org/W3190179333","https://openalex.org/W3203281536","https://openalex.org/W4225716276","https://openalex.org/W4226019911","https://openalex.org/W4281636849","https://openalex.org/W4283695576","https://openalex.org/W4308085304","https://openalex.org/W4318464607","https://openalex.org/W4320002812","https://openalex.org/W4365420566","https://openalex.org/W4385482514","https://openalex.org/W4391770072","https://openalex.org/W6634632150","https://openalex.org/W6738279954","https://openalex.org/W6767295796","https://openalex.org/W6838956374"],"related_works":["https://openalex.org/W2628861693","https://openalex.org/W2121524756","https://openalex.org/W782553550","https://openalex.org/W8302103","https://openalex.org/W1987967678","https://openalex.org/W3203087560","https://openalex.org/W2633218168","https://openalex.org/W4235897794","https://openalex.org/W2059707233","https://openalex.org/W4361279463"],"abstract_inverted_index":{"The":[0,122,205],"robust":[1,107],"perception":[2,84,108],"of":[3,79,188,213],"environments":[4,114],"is":[5],"crucial":[6],"for":[7,26,44,110,128,180],"mobile":[8,19,45],"robots":[9,20,111],"to":[10,48,51,75,148,164,183],"operate":[11],"autonomously":[12],"in":[13,31,96,112,202],"complex":[14,97,113],"environments.":[15,98],"Over":[16],"the":[17,76,93,153,185,189,209,214],"years,":[18],"mainly":[21],"rely":[22],"on":[23,63,68,86,116],"optical":[24],"sensors":[25],"perception,":[27,46],"which":[28],"degrade":[29],"severely":[30],"adverse":[32],"weather":[33],"conditions.":[34],"Recently,":[35],"single-chip":[36],"millimeter-wave":[37],"(mmWave)":[38],"radars":[39,65,182],"have":[40],"been":[41],"widely":[42],"used":[43],"owing":[47],"their":[49],"robustness":[50,95],"all-weather":[52],"conditions,":[53],"lightweight":[54],"design,":[55],"and":[56,71,81,136,144,198,211],"low":[57],"cost.":[58],"However,":[59],"existing":[60],"research":[61],"based":[62,85,115],"mmWave":[64,118],"primarily":[66],"focuses":[67],"single":[69,72,88],"radar":[70,89],"task.":[73],"Due":[74],"limited":[77],"field":[78],"view":[80],"sparse":[82],"observation,":[83],"a":[87,105,157,166,175,196],"may":[90],"not":[91],"ensure":[92,184],"required":[94],"To":[99,191],"address":[100],"this":[101],"challenge,":[102],"we":[103,155,173,194],"propose":[104,156,174],"novel":[106],"framework":[109,123],"multiple":[117,181],"radars,":[119],"named":[120],"MMR-PFR.":[121],"integrates":[124],"three":[125],"critical":[126],"tasks":[127,142],"robots,":[129],"including":[130],"ego-motion":[131],"estimation,":[132],"multi-radar":[133,159],"fusion":[134,162],"mapping,":[135],"dynamic":[137],"target":[138],"state":[139],"estimation.":[140],"Multiple":[141],"collaborate":[143],"facilitate":[145],"each":[146],"other":[147],"improve":[149],"overall":[150],"performance.":[151],"In":[152,171],"framework,":[154],"new":[158,176],"point":[160],"cloud":[161],"method":[163],"generate":[165],"more":[167],"accurate":[168],"environmental":[169],"map.":[170],"addition,":[172],"online":[177],"calibration":[178],"algorithm":[179],"long-term":[186],"reliability":[187],"system.":[190],"evaluate":[192],"MMR-PRF,":[193],"build":[195],"prototype":[197],"carry":[199],"out":[200],"experiments":[201],"real-world":[203],"scenarios.":[204],"evaluation":[206],"results":[207],"show":[208],"effectiveness":[210],"superiority":[212],"proposed":[215],"framework.":[216]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
