{"id":"https://openalex.org/W4394711210","doi":"https://doi.org/10.1109/lra.2024.3387700","title":"FARFusion: A Practical Roadside Radar-Camera Fusion System for Far-Range Perception","display_name":"FARFusion: A Practical Roadside Radar-Camera Fusion System for Far-Range Perception","publication_year":2024,"publication_date":"2024-04-11","ids":{"openalex":"https://openalex.org/W4394711210","doi":"https://doi.org/10.1109/lra.2024.3387700"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3387700","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3387700","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/A5034825117","display_name":"Yao Li","orcid":"https://orcid.org/0000-0002-6063-3331"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Li","raw_affiliation_strings":["School of Computer Science and Technology, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-6063-3331","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100349993","display_name":"Yingjie Wang","orcid":"https://orcid.org/0000-0001-6852-8491"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingjie Wang","raw_affiliation_strings":["School of Computer Science and Technology, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0001-6852-8491","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023863179","display_name":"Chengzhen Meng","orcid":"https://orcid.org/0009-0006-4285-1905"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengzhen Meng","raw_affiliation_strings":["School of Computer Science and Technology, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0009-0006-4285-1905","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066206169","display_name":"Yifan Duan","orcid":"https://orcid.org/0009-0004-0754-3953"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Duan","raw_affiliation_strings":["School of Computer Science and Technology, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0009-0004-0754-3953","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061104105","display_name":"Jianmin Ji","orcid":"https://orcid.org/0000-0002-1515-0402"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianmin Ji","raw_affiliation_strings":["School of Computer Science and Technology, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-1515-0402","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036488225","display_name":"Yu Zhang","orcid":"https://orcid.org/0000-0001-6638-6442"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["School of Computer Science and Technology, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0001-6638-6442","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103041851","display_name":"Yanyong Zhang","orcid":"https://orcid.org/0000-0001-9046-798X"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanyong Zhang","raw_affiliation_strings":["School of Computer Science and Technology, University of Science and Technology of China, Hefei, China","Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0001-9046-798X","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":24.5805,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.99353787,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"9","issue":"6","first_page":"5433","last_page":"5440"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9966999888420105,"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":0.9966999888420105,"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/T12389","display_name":"Infrared Target Detection Methodologies","score":0.9914000034332275,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9861000180244446,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5856133699417114},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.5438022017478943},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4872256815433502},{"id":"https://openalex.org/keywords/radar-systems","display_name":"Radar systems","score":0.4716058373451233},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.44600194692611694},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41702383756637573},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4097784161567688},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.35852086544036865},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35097038745880127},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3474281430244446},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.25474444031715393},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24375900626182556},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.22182443737983704},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1566011607646942}],"concepts":[{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5856133699417114},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.5438022017478943},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4872256815433502},{"id":"https://openalex.org/C2984296375","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar systems","level":3,"score":0.4716058373451233},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.44600194692611694},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41702383756637573},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4097784161567688},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.35852086544036865},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35097038745880127},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3474281430244446},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.25474444031715393},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24375900626182556},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.22182443737983704},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1566011607646942},{"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/lra.2024.3387700","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3387700","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.4099999964237213}],"awards":[{"id":"https://openalex.org/G4430582919","display_name":null,"funder_award_id":"62332016","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1970686984","https://openalex.org/W2064106408","https://openalex.org/W2119298989","https://openalex.org/W2141461755","https://openalex.org/W2167694888","https://openalex.org/W2177478906","https://openalex.org/W2222512263","https://openalex.org/W2802508687","https://openalex.org/W2990387732","https://openalex.org/W3105073457","https://openalex.org/W3118479569","https://openalex.org/W3129064307","https://openalex.org/W3131323599","https://openalex.org/W3132607695","https://openalex.org/W3172841933","https://openalex.org/W3210701025","https://openalex.org/W4221145330","https://openalex.org/W4250432997","https://openalex.org/W4287887906","https://openalex.org/W4312894406","https://openalex.org/W4312939270","https://openalex.org/W4320002769","https://openalex.org/W4367300679","https://openalex.org/W4376870884","https://openalex.org/W4382469124","https://openalex.org/W4383066393","https://openalex.org/W4383109203","https://openalex.org/W4386230607"],"related_works":["https://openalex.org/W760655932","https://openalex.org/W96662699","https://openalex.org/W2573371920","https://openalex.org/W156107400","https://openalex.org/W2353141829","https://openalex.org/W2083225881","https://openalex.org/W2362183774","https://openalex.org/W2370482908","https://openalex.org/W2910716297","https://openalex.org/W2363629559"],"abstract_inverted_index":{"Far-range":[0],"perception":[1,19,64],"through":[2,201],"roadside":[3,352],"sensors":[4],"is":[5,20,76,105,126,140,315],"crucial":[6],"to":[7,22,72,108,152,168,197,222,282,334,350],"the":[8,23,77,81,102,110,113,118,124,130,136,146,160,165,169,177,193,198,207,212,235,256,284,305,330],"effectiveness":[9,285],"of":[10,17,25,84,96,132,286,317,323],"intelligent":[11],"transportation":[12],"systems.":[13],"The":[14,70,289],"main":[15],"challenge":[16],"far-range":[18,353],"due":[21],"difficulty":[24],"performing":[26],"accurate":[27,154],"object":[28,179,195],"detection":[29,331],"and":[30,54,58,92,149,172,238,278,303],"tracking":[31,220],"under":[32],"far":[33,143],"distances":[34,144],"<italic":[35,309,324,335],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[36,299,310,325,336],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">(e.g.,":[37],"&gt;":[38],"150m)</i>":[39],"at":[40,142],"a":[41,67,185,218,244,251,347],"low":[42],"cost.":[43],"To":[44],"cope":[45],"with":[46,176,206],"such":[47,265],"challenges,":[48],"deploying":[49],"both":[50],"millimeter":[51],"wave":[52],"Radars":[53],"high-definition":[55],"(HD)":[56],"cameras,":[57],"fusing":[59],"their":[60],"data":[61],"for":[62,226],"joint":[63],"has":[65],"become":[66],"common":[68],"practice.":[69],"key":[71],"this":[73,100],"solution,":[74],"however,":[75],"precise":[78],"association":[79],"between":[80,234],"two":[82],"types":[83],"data,":[85],"which":[86,106],"are":[87,182],"captured":[88],"from":[89,211],"different":[90,94],"perspectives":[91],"have":[93,269],"degrees":[95],"measurement":[97],"noises.":[98],"Towards":[99],"goal,":[101],"first":[103,158],"question":[104],"plane":[107,116,148,171,200,237],"conduct":[109],"association,":[111],"i.e.,":[112],"2D":[114,147,170,236],"image":[115],"or":[117],"BEV":[119,166,199,219,239],"plane.":[120],"We":[121,268,339],"argue":[122],"that":[123,181,292,342],"former":[125],"more":[127,153],"suitable":[128],"because":[129],"magnitude":[131],"location":[133,306,321],"errors":[134],"in":[135],"perspective":[137],"projection":[138,203],"points":[139],"smaller":[141],"on":[145,187,250,274],"can":[150,295],"lead":[151],"association.":[155],"Thus,":[156],"we":[157,191,216,241,328],"project":[159],"Radar-based":[161],"target":[162,224],"locations":[163,180,196],"(on":[164],"plane)":[167],"then":[173],"associate":[174],"them":[175],"camera-based":[178,194],"modeled":[183],"as":[184,266],"point":[186],"each":[188],"object.":[189],"Subsequently,":[190],"map":[192],"inverse":[202],"mapping":[204],"(IPM)":[205],"corresponding":[208],"depth":[209,252],"information":[210],"Radar":[213],"data.":[214],"Finally,":[215],"engage":[217],"module":[221],"generate":[223],"trajectories":[225],"traffic":[227],"monitoring.":[228],"Since":[229],"our":[230,287,293,343],"approach":[231,248,349],"involves":[232],"transformation":[233,245],"plane,":[240],"also":[242],"devise":[243],"parameters":[246],"refining":[247],"based":[249],"scaling":[253],"technique,":[254],"utilising":[255],"above":[257],"fusion":[258],"process":[259],"without":[260],"requiring":[261],"any":[262],"additional":[263],"devices":[264],"GPS.":[267],"deployed":[270],"an":[271,275,319],"actual":[272],"testbed":[273],"urban":[276],"expressway":[277],"conducted":[279],"extensive":[280],"experiments":[281],"evaluate":[283],"system.":[288],"results":[290],"show":[291],"system":[294,314],"improve":[296],"AP":[297],"<sub":[298],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">BEV</sub>":[300],"by":[301,308],"32%,":[302],"reduce":[304],"error":[307],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">0.56m</i>":[311],".":[312,338],"Our":[313],"capable":[316],"achieving":[318],"average":[320],"accuracy":[322],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1.3m</i>":[326],"when":[327],"extend":[329],"range":[332],"up":[333],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">500m</i>":[337],"thus":[340],"believe":[341],"proposed":[344],"method":[345],"offers":[346],"viable":[348],"efficient":[351],"perception.":[354]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":5}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
