{"id":"https://openalex.org/W4409683095","doi":"https://doi.org/10.1109/lra.2025.3563829","title":"Self-Supervised Diffusion-Based Scene Flow Estimation and Motion Segmentation With 4D Radar","display_name":"Self-Supervised Diffusion-Based Scene Flow Estimation and Motion Segmentation With 4D Radar","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4409683095","doi":"https://doi.org/10.1109/lra.2025.3563829"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3563829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3563829","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":null,"display_name":"Yufei Liu","orcid":"https://orcid.org/0009-0008-8008-7594"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yufei Liu","raw_affiliation_strings":["College of Intelligence Science and Technology, and the National Key Laboratory of Equipment State Sensing and Smart Support, National University of Defense Technology, Changsha, China","College of Intelligence Science and Technology, and the National Key Laboratory of Equipment State Sensing and Smart Support, National University of Defense Technology, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, and the National Key Laboratory of Equipment State Sensing and Smart Support, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, and the National Key Laboratory of Equipment State Sensing and Smart Support, National University of Defense Technology, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032262344","display_name":"Xieyuanli Chen","orcid":"https://orcid.org/0000-0003-0955-6681"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xieyuanli Chen","raw_affiliation_strings":["College of Intelligence Science and Technology, and the National Key Laboratory of Equipment State Sensing and Smart Support, National University of Defense Technology, Changsha, China","College of Intelligence Science and Technology, and the National Key Laboratory of Equipment State Sensing and Smart Support, National University of Defense Technology, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, and the National Key Laboratory of Equipment State Sensing and Smart Support, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, and the National Key Laboratory of Equipment State Sensing and Smart Support, National University of Defense Technology, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101563004","display_name":"Neng Wang","orcid":"https://orcid.org/0009-0005-3620-347X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Neng Wang","raw_affiliation_strings":["College of Intelligence Science and Technology, and the National Key Laboratory of Equipment State Sensing and Smart Support, National University of Defense Technology, Changsha, China","College of Intelligence Science and Technology, and the National Key Laboratory of Equipment State Sensing and Smart Support, National University of Defense Technology, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, and the National Key Laboratory of Equipment State Sensing and Smart Support, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, and the National Key Laboratory of Equipment State Sensing and Smart Support, National University of Defense Technology, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Stepan Andreev","orcid":"https://orcid.org/0000-0003-1190-3582"},"institutions":[{"id":"https://openalex.org/I153845743","display_name":"Moscow Institute of Physics and Technology","ror":"https://ror.org/00v0z9322","country_code":"RU","type":"education","lineage":["https://openalex.org/I153845743"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Stepan Andreev","raw_affiliation_strings":["Microwave Photonics Department, Telecommunications Center, Moscow Institute of Physics and Technology, Dolgoprudny, Moscow, Russia","Microwave Photonics Department, Telecommunications Center, Moscow Institute of Physics and Technology, Russia"],"affiliations":[{"raw_affiliation_string":"Microwave Photonics Department, Telecommunications Center, Moscow Institute of Physics and Technology, Dolgoprudny, Moscow, Russia","institution_ids":["https://openalex.org/I153845743"]},{"raw_affiliation_string":"Microwave Photonics Department, Telecommunications Center, Moscow Institute of Physics and Technology, Russia","institution_ids":["https://openalex.org/I153845743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079785498","display_name":"Alexander Dvorkovich","orcid":"https://orcid.org/0000-0003-1190-3582"},"institutions":[{"id":"https://openalex.org/I153845743","display_name":"Moscow Institute of Physics and Technology","ror":"https://ror.org/00v0z9322","country_code":"RU","type":"education","lineage":["https://openalex.org/I153845743"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Alexander Dvorkovich","raw_affiliation_strings":["Multimedia Technology and Telecom Department, Telecommunications Center, Moscow Institute of Physics and Technology, Dolgoprudny, Moscow, Russia","Multimedia Technology and Telecom Department, Telecommunications Center, Moscow Institute of Physics and Technology, Russia"],"affiliations":[{"raw_affiliation_string":"Multimedia Technology and Telecom Department, Telecommunications Center, Moscow Institute of Physics and Technology, Dolgoprudny, Moscow, Russia","institution_ids":["https://openalex.org/I153845743"]},{"raw_affiliation_string":"Multimedia Technology and Telecom Department, Telecommunications Center, Moscow Institute of Physics and Technology, Russia","institution_ids":["https://openalex.org/I153845743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038867899","display_name":"Rui Fan","orcid":"https://orcid.org/0000-0003-2593-6596"},"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":"Rui Fan","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China","College of Electronics and Information Engineering, Tongji University, China"],"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036075088","display_name":"Huimin Lu","orcid":"https://orcid.org/0000-0002-6375-581X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huimin Lu","raw_affiliation_strings":["College of Intelligence Science and Technology, and the National Key Laboratory of Equipment State Sensing and Smart Support, National University of Defense Technology, Changsha, China","College of Intelligence Science and Technology, and the National Key Laboratory of Equipment State Sensing and Smart Support, National University of Defense Technology, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, and the National Key Laboratory of Equipment State Sensing and Smart Support, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, and the National Key Laboratory of Equipment State Sensing and Smart Support, National University of Defense Technology, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06478707,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"6","first_page":"5895","last_page":"5902"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11105","display_name":"Advanced Image Processing Techniques","score":0.9973999857902527,"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"}},"topics":[{"id":"https://openalex.org/T11105","display_name":"Advanced Image Processing Techniques","score":0.9973999857902527,"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/T10688","display_name":"Image and Signal Denoising Methods","score":0.9854000210762024,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9807000160217285,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6232317686080933},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6227882504463196},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6203364133834839},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5800465941429138},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5430528521537781},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5310136675834656},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5233242511749268},{"id":"https://openalex.org/keywords/diffusion","display_name":"Diffusion","score":0.503734290599823},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.4910876750946045},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.41718360781669617},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.36257725954055786},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19528204202651978},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09848517179489136},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09693947434425354},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07577598094940186},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.061678558588027954}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6232317686080933},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6227882504463196},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6203364133834839},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5800465941429138},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5430528521537781},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5310136675834656},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5233242511749268},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.503734290599823},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4910876750946045},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.41718360781669617},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.36257725954055786},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19528204202651978},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09848517179489136},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09693947434425354},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07577598094940186},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.061678558588027954},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3563829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3563829","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":[],"awards":[{"id":"https://openalex.org/G3116061949","display_name":null,"funder_award_id":"62403478","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5736016220","display_name":null,"funder_award_id":"62233013","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8893963792","display_name":null,"funder_award_id":"62473288","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W2049981393","https://openalex.org/W2136567909","https://openalex.org/W2962771259","https://openalex.org/W3034321406","https://openalex.org/W3097139398","https://openalex.org/W3106932526","https://openalex.org/W3109908659","https://openalex.org/W3127986322","https://openalex.org/W3161855852","https://openalex.org/W3175172372","https://openalex.org/W3175617025","https://openalex.org/W3175645231","https://openalex.org/W3178825327","https://openalex.org/W3202821542","https://openalex.org/W4210674219","https://openalex.org/W4213002936","https://openalex.org/W4221161772","https://openalex.org/W4285110186","https://openalex.org/W4285199148","https://openalex.org/W4285303928","https://openalex.org/W4293363567","https://openalex.org/W4308080461","https://openalex.org/W4310925503","https://openalex.org/W4312374527","https://openalex.org/W4312418574","https://openalex.org/W4312896435","https://openalex.org/W4312931360","https://openalex.org/W4319300763","https://openalex.org/W4323644154","https://openalex.org/W4383108627","https://openalex.org/W4386066534","https://openalex.org/W4389317747","https://openalex.org/W4389665673","https://openalex.org/W4392120727","https://openalex.org/W4401326305","https://openalex.org/W4401415925","https://openalex.org/W4402592730","https://openalex.org/W4402754217","https://openalex.org/W4402951730","https://openalex.org/W6766978945","https://openalex.org/W6779823529","https://openalex.org/W6869256850"],"related_works":["https://openalex.org/W2576994247","https://openalex.org/W2608353378","https://openalex.org/W4249206767","https://openalex.org/W4379231730","https://openalex.org/W2563559453","https://openalex.org/W2382330008","https://openalex.org/W4389858081","https://openalex.org/W1519970947","https://openalex.org/W4243860260","https://openalex.org/W4383503847"],"abstract_inverted_index":{"Scene":[0],"flow":[1,87,132],"estimation":[2],"(SFE)":[3],"and":[4,18,44,51,83,88,130,148,161,165],"motion":[5,89],"segmentation":[6,119],"(MOS)":[7],"using":[8],"4D":[9,112],"radar":[10,35,39,80,113],"are":[11],"emerging":[12],"yet":[13],"challenging":[14],"tasks":[15],"in":[16],"robotics":[17],"autonomous":[19],"driving":[20],"applications.":[21],"Existing":[22],"LiDAR-":[23],"or":[24],"RGB-D-based":[25],"point":[26],"cloud":[27],"processing":[28],"methods":[29],"often":[30],"deliver":[31],"suboptimal":[32],"performance":[33,156],"on":[34,143],"data":[36],"due":[37],"to":[38,77,107],"signals'":[40],"highly":[41],"sparse,":[42],"noisy,":[43],"artifact-prone":[45],"nature.":[46],"Furthermore,":[47],"for":[48,138,157],"radar-based":[49,159],"SFE":[50,160],"MOS,":[52],"the":[53,97,109,123,136,144],"lack":[54],"of":[55,111,168],"annotated":[56],"datasets":[57],"further":[58],"aggravates":[59],"these":[60,64],"challenges.":[61],"To":[62,92],"address":[63,108],"issues,":[65],"we":[66,100,116],"propose":[67],"a":[68,102],"novel":[69],"self-supervised":[70,118],"framework":[71],"that":[72,151],"exploits":[73],"denoising":[74],"diffusion":[75],"models":[76],"effectively":[78],"handle":[79],"noise":[81],"inputs":[82],"predict":[84],"point-wise":[85],"scene":[86,131],"status":[90],"simultaneously.":[91],"extract":[93],"key":[94],"features":[95],"from":[96],"raw":[98],"input,":[99],"design":[101],"transformer-based":[103],"feature":[104],"encoder":[105],"tailored":[106],"sparsity":[110],"data.":[114],"Additionally,":[115],"generate":[117],"signals":[120],"by":[121],"exploiting":[122],"discrepancy":[124],"between":[125],"robust":[126],"rigid":[127],"ego-motion":[128],"estimates":[129],"predictions,":[133],"thereby":[134],"eliminating":[135],"need":[137],"manual":[139],"annotations.":[140],"Experimental":[141],"evaluations":[142],"View-of-Delft":[145],"(VoD)":[146],"dataset":[147],"TJ4DRadSet":[149],"demonstrate":[150],"our":[152,169],"method":[153,170],"achieves":[154],"state-of-the-art":[155],"both":[158],"MOS.":[162],"The":[163],"code":[164],"pre-trained":[166],"weights":[167],"will":[171],"be":[172],"released":[173],"at":[174],"<uri":[175],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[176],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/nubot-nudt/RadarSFEMOS</uri>.":[177]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
