{"id":"https://openalex.org/W4401386918","doi":"https://doi.org/10.1109/lra.2024.3440093","title":"Cross-Modal Supervision Based Road Segmentation and Trajectory Prediction With Automotive Radar","display_name":"Cross-Modal Supervision Based Road Segmentation and Trajectory Prediction With Automotive Radar","publication_year":2024,"publication_date":"2024-08-07","ids":{"openalex":"https://openalex.org/W4401386918","doi":"https://doi.org/10.1109/lra.2024.3440093"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3440093","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3440093","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/A5112808708","display_name":"Zhaoze Wang","orcid":"https://orcid.org/0009-0008-8695-3238"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zhaoze Wang","raw_affiliation_strings":["Institute of Microwaves and Photonics (LHFT), Friedrich-Alexander-Universit&#x00E4;t Erlangen-N&#x00FC;rnberg, Erlangen, Germany"],"raw_orcid":"https://orcid.org/0009-0000-3158-8239","affiliations":[{"raw_affiliation_string":"Institute of Microwaves and Photonics (LHFT), Friedrich-Alexander-Universit&#x00E4;t Erlangen-N&#x00FC;rnberg, Erlangen, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101976116","display_name":"Yi Jin","orcid":"https://orcid.org/0000-0002-7998-0755"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yi Jin","raw_affiliation_strings":["Institute of Microwaves and Photonics (LHFT), Friedrich-Alexander-Universit&#x00E4;t Erlangen-N&#x00FC;rnberg, Erlangen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-7998-0755","affiliations":[{"raw_affiliation_string":"Institute of Microwaves and Photonics (LHFT), Friedrich-Alexander-Universit&#x00E4;t Erlangen-N&#x00FC;rnberg, Erlangen, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079817251","display_name":"Anastasios Deligiannis","orcid":"https://orcid.org/0000-0003-0651-3926"},"institutions":[{"id":"https://openalex.org/I4210156768","display_name":"BMW Group (Germany)","ror":"https://ror.org/044kkbh92","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210156768"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Anastasios Deligiannis","raw_affiliation_strings":["BMW Group, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-0651-3926","affiliations":[{"raw_affiliation_string":"BMW Group, Munich, Germany","institution_ids":["https://openalex.org/I4210156768"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058254176","display_name":"Juan-Carlos Fuentes-Michel","orcid":"https://orcid.org/0000-0003-1017-2730"},"institutions":[{"id":"https://openalex.org/I4210156768","display_name":"BMW Group (Germany)","ror":"https://ror.org/044kkbh92","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210156768"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Juan-Carlos Fuentes-Michel","raw_affiliation_strings":["BMW Group, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-1017-2730","affiliations":[{"raw_affiliation_string":"BMW Group, Munich, Germany","institution_ids":["https://openalex.org/I4210156768"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026943179","display_name":"Martin Vossiek","orcid":"https://orcid.org/0000-0002-8369-345X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Martin Vossiek","raw_affiliation_strings":["Institute of Microwaves and Photonics (LHFT), Friedrich-Alexander-Universit&#x00E4;t Erlangen-N&#x00FC;rnberg, Erlangen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Microwaves and Photonics (LHFT), Friedrich-Alexander-Universit&#x00E4;t Erlangen-N&#x00FC;rnberg, Erlangen, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5112808708"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3874,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.58286863,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"9","issue":"9","first_page":"8083","last_page":"8089"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10036","display_name":"Advanced Neural Network Applications","score":0.9961000084877014,"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/T13282","display_name":"Automated Road and Building Extraction","score":0.9947999715805054,"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/modal","display_name":"Modal","score":0.7562090158462524},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6078354716300964},{"id":"https://openalex.org/keywords/automotive-industry","display_name":"Automotive industry","score":0.5927416086196899},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5800788998603821},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5141634941101074},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.4644351899623871},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3985365331172943},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3641343116760254},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.261835515499115},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1380835771560669},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09342005848884583},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.07029896974563599},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06493043899536133}],"concepts":[{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.7562090158462524},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6078354716300964},{"id":"https://openalex.org/C526921623","wikidata":"https://www.wikidata.org/wiki/Q190117","display_name":"Automotive industry","level":2,"score":0.5927416086196899},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5800788998603821},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5141634941101074},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.4644351899623871},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3985365331172943},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3641343116760254},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.261835515499115},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1380835771560669},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09342005848884583},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.07029896974563599},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06493043899536133},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3440093","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3440093","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W2170736835","https://openalex.org/W2772409766","https://openalex.org/W2888206354","https://openalex.org/W2963351448","https://openalex.org/W2970475272","https://openalex.org/W2990710319","https://openalex.org/W2998614245","https://openalex.org/W3016600231","https://openalex.org/W3094632837","https://openalex.org/W3100435238","https://openalex.org/W3113392151","https://openalex.org/W3120815051","https://openalex.org/W3121111736","https://openalex.org/W3141797743","https://openalex.org/W3161465675","https://openalex.org/W3207084381","https://openalex.org/W4200026394","https://openalex.org/W4313598715","https://openalex.org/W4385301123","https://openalex.org/W4385800567","https://openalex.org/W4386634649","https://openalex.org/W4387415261","https://openalex.org/W4390874575","https://openalex.org/W6683544697"],"related_works":["https://openalex.org/W4382644535","https://openalex.org/W2522768275","https://openalex.org/W2352938035","https://openalex.org/W2351672553","https://openalex.org/W2373392303","https://openalex.org/W2765894405","https://openalex.org/W1884735063","https://openalex.org/W2372668238","https://openalex.org/W1941703695","https://openalex.org/W2560421750"],"abstract_inverted_index":{"Automotive":[0],"radar":[1,98],"plays":[2],"a":[3,59,84,92,132,146,185],"crucial":[4],"role":[5],"in":[6,15,83,122,165,194],"providing":[7],"reliable":[8],"environmental":[9],"perception":[10],"for":[11],"autonomous":[12],"driving,":[13],"particularly":[14],"challenging":[16],"conditions":[17],"such":[18],"as":[19],"high":[20],"speeds":[21],"and":[22,45,67,169],"bad":[23],"weather.":[24],"In":[25,54],"this":[26,55],"domain":[27],"the":[28,35,40,46,120,136],"deep":[29],"learning-based":[30,94],"method":[31,90],"is":[32],"one":[33],"of":[34,42,48,138,176,187],"most":[36],"promising":[37],"approaches,":[38],"but":[39,117],"presence":[41],"noisy":[43],"signals":[44],"complexity":[47],"data":[49,79],"annotation":[50],"limit":[51],"its":[52],"development.":[53],"letter,":[56],"we":[57],"propose":[58],"novel":[60],"approach":[61,155],"to":[62,80],"address":[63],"road":[64,166],"area":[65,167],"segmentation":[66,168],"driving":[68],"trajectory":[69,195],"prediction":[70],"tasks":[71],"by":[72,97],"introducing":[73],"Differential":[74],"Global":[75],"Positioning":[76],"System":[77],"(DGPS)":[78],"generate":[81],"labels":[82],"cross-modal":[85],"supervised":[86],"manner.":[87],"Then":[88],"our":[89,139],"employs":[91],"multi-task":[93,110],"CNN":[95],"trained":[96],"point":[99],"clouds":[100],"or":[101],"occupancy":[102],"grid":[103],"maps":[104],"without":[105],"any":[106],"manual":[107],"modification.":[108],"This":[109],"network":[111],"not":[112],"only":[113],"boosts":[114],"processing":[115],"efficiency":[116],"also":[118],"enhances":[119],"performances":[121],"both":[123],"tasks,":[124],"compared":[125],"with":[126],"single-task":[127],"counterparts.":[128],"Experimental":[129],"results":[130],"on":[131],"real-world":[133],"dataset":[134],"demonstrate":[135],"effect":[137],"implementation":[140],"qualitatively,":[141],"achieving":[142],"decimeter-level":[143],"predictions":[144],"within":[145,184],"<inline-formula":[147,179,188],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[148,180,189],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[149,181,190],"notation=\"LaTeX\">$\\text{100}":[150,191],"\\,\\text{m}$</tex-math></inline-formula>":[151,192],"forward":[152,193],"range.":[153],"Our":[154],"attains":[156],"an":[157,171],"impressive":[158],"91.4%":[159],"mean":[160],"Intersection":[161],"over":[162],"Union":[163],"(mIoU)":[164],"exhibits":[170],"overall":[172],"average":[173],"curve":[174],"deviation":[175],"less":[177],"than":[178],"notation=\"LaTeX\">$\\text{0.35}":[182],"\\,\\text{{m}}$</tex-math></inline-formula>":[183],"range":[186],"prediction.":[196]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
