{"id":"https://openalex.org/W4410582013","doi":"https://doi.org/10.1109/lra.2025.3572418","title":"CaRaFFusion: Improving 2D Semantic Segmentation With Camera-Radar Point Cloud Fusion and Zero-Shot Image Inpainting","display_name":"CaRaFFusion: Improving 2D Semantic Segmentation With Camera-Radar Point Cloud Fusion and Zero-Shot Image Inpainting","publication_year":2025,"publication_date":"2025-05-21","ids":{"openalex":"https://openalex.org/W4410582013","doi":"https://doi.org/10.1109/lra.2025.3572418"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3572418","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3572418","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2025.3572418","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066914140","display_name":"Huawei Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I137594350","display_name":"Infineon Technologies (Germany)","ror":"https://ror.org/005kw6t15","country_code":"DE","type":"company","lineage":["https://openalex.org/I137594350"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Huawei Sun","raw_affiliation_strings":["Technical University of Munich, Munich, Germany","Infineon Technologies AG, Neubiberg, Germany"],"raw_orcid":"https://orcid.org/0009-0000-1393-1822","affiliations":[{"raw_affiliation_string":"Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Infineon Technologies AG, Neubiberg, Germany","institution_ids":["https://openalex.org/I137594350"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Bora Kunter Sahin","orcid":"https://orcid.org/0009-0005-4359-1677"},"institutions":[{"id":"https://openalex.org/I137594350","display_name":"Infineon Technologies (Germany)","ror":"https://ror.org/005kw6t15","country_code":"DE","type":"company","lineage":["https://openalex.org/I137594350"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bora Kunter Sahin","raw_affiliation_strings":["Infineon Technologies AG, Neubiberg, Germany"],"raw_orcid":"https://orcid.org/0009-0005-4359-1677","affiliations":[{"raw_affiliation_string":"Infineon Technologies AG, Neubiberg, Germany","institution_ids":["https://openalex.org/I137594350"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028732794","display_name":"Georg Stettinger","orcid":"https://orcid.org/0000-0001-5607-3557"},"institutions":[{"id":"https://openalex.org/I137594350","display_name":"Infineon Technologies (Germany)","ror":"https://ror.org/005kw6t15","country_code":"DE","type":"company","lineage":["https://openalex.org/I137594350"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Georg Stettinger","raw_affiliation_strings":["Infineon Technologies AG, Neubiberg, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5607-3557","affiliations":[{"raw_affiliation_string":"Infineon Technologies AG, Neubiberg, Germany","institution_ids":["https://openalex.org/I137594350"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104292589","display_name":"Maximilian Bernhard","orcid":null},"institutions":[{"id":"https://openalex.org/I8204097","display_name":"Ludwig-Maximilians-Universit\u00e4t M\u00fcnchen","ror":"https://ror.org/05591te55","country_code":"DE","type":"education","lineage":["https://openalex.org/I8204097"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximilian Bernhard","raw_affiliation_strings":["Ludwig Maximilian University of Munich, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ludwig Maximilian University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I8204097"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003177894","display_name":"Matthias Schubert","orcid":"https://orcid.org/0000-0002-6566-6343"},"institutions":[{"id":"https://openalex.org/I8204097","display_name":"Ludwig-Maximilians-Universit\u00e4t M\u00fcnchen","ror":"https://ror.org/05591te55","country_code":"DE","type":"education","lineage":["https://openalex.org/I8204097"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Schubert","raw_affiliation_strings":["Ludwig Maximilian University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-6566-6343","affiliations":[{"raw_affiliation_string":"Ludwig Maximilian University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I8204097"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004214923","display_name":"Robert Wille","orcid":"https://orcid.org/0000-0002-4993-7860"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Robert Wille","raw_affiliation_strings":["Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-4993-7860","affiliations":[{"raw_affiliation_string":"Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5458,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.62500437,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"10","issue":"7","first_page":"7007","last_page":"7014"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.9909999966621399,"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/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.9909999966621399,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.989300012588501,"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/T12422","display_name":"Radiomics and Machine Learning in Medical Imaging","score":0.9811999797821045,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inpainting","display_name":"Inpainting","score":0.8554431200027466},{"id":"https://openalex.org/keywords/shot","display_name":"Shot (pellet)","score":0.6617218255996704},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6551946997642517},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.618683934211731},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5980162620544434},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5331674814224243},{"id":"https://openalex.org/keywords/zero","display_name":"Zero (linguistics)","score":0.5267202854156494},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.5045915842056274},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5007772445678711},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.45908230543136597},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.42104238271713257},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.32072657346725464},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.05013155937194824}],"concepts":[{"id":"https://openalex.org/C11727466","wikidata":"https://www.wikidata.org/wiki/Q1628157","display_name":"Inpainting","level":3,"score":0.8554431200027466},{"id":"https://openalex.org/C2778344882","wikidata":"https://www.wikidata.org/wiki/Q278938","display_name":"Shot (pellet)","level":2,"score":0.6617218255996704},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6551946997642517},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.618683934211731},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5980162620544434},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5331674814224243},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.5267202854156494},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.5045915842056274},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5007772445678711},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.45908230543136597},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.42104238271713257},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.32072657346725464},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.05013155937194824},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3572418","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3572418","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2025.3572418","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3572418","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W2031489346","https://openalex.org/W2734349601","https://openalex.org/W2940863872","https://openalex.org/W2963881378","https://openalex.org/W2966975099","https://openalex.org/W2979826702","https://openalex.org/W2997564896","https://openalex.org/W3001349656","https://openalex.org/W3035574168","https://openalex.org/W3106725490","https://openalex.org/W3176880348","https://openalex.org/W4214736753","https://openalex.org/W4214893857","https://openalex.org/W4288348082","https://openalex.org/W4310925503","https://openalex.org/W4311142071","https://openalex.org/W4312688875","https://openalex.org/W4312933868","https://openalex.org/W4378647934","https://openalex.org/W4386065453","https://openalex.org/W4389317747","https://openalex.org/W4390872227","https://openalex.org/W4390874575","https://openalex.org/W4391768635","https://openalex.org/W4391770072","https://openalex.org/W4393148271","https://openalex.org/W4394593117","https://openalex.org/W4400035744","https://openalex.org/W4402754159","https://openalex.org/W4405787442","https://openalex.org/W4405787670","https://openalex.org/W4409263228","https://openalex.org/W6739901393","https://openalex.org/W6742348326","https://openalex.org/W6757817989","https://openalex.org/W6763422710","https://openalex.org/W6797399245","https://openalex.org/W6845611785","https://openalex.org/W6845813885","https://openalex.org/W6846501922","https://openalex.org/W6851932778","https://openalex.org/W6854362512"],"related_works":["https://openalex.org/W2380775572","https://openalex.org/W2213520135","https://openalex.org/W2244018504","https://openalex.org/W4242046654","https://openalex.org/W3174923100","https://openalex.org/W3134074939","https://openalex.org/W2117562399","https://openalex.org/W4298074124","https://openalex.org/W2587407424","https://openalex.org/W1523707610"],"abstract_inverted_index":{"Segmenting":[0],"objects":[1],"in":[2,133,146,156],"an":[3],"environment":[4],"is":[5,60],"a":[6,17,57,72,81,85,112],"crucial":[7],"task":[8],"for":[9,169],"autonomous":[10],"driving":[11],"and":[12,53,148],"robotics,":[13],"as":[14,106],"it":[15],"enables":[16],"better":[18],"understanding":[19],"of":[20,23,166],"the":[21,98,102,130,134,140,159,164],"surroundings":[22],"each":[24],"agent.":[25],"Although":[26],"camera":[27],"sensors":[28,43],"provide":[29],"rich":[30],"visual":[31],"details,":[32],"they":[33],"are":[34,121],"vulnerable":[35],"to":[36,61,75,94,116,124],"adverse":[37,176],"weather":[38,177],"conditions.":[39,178],"In":[40,67],"contrast,":[41],"radar":[42,91,104],"remain":[44],"robust":[45],"under":[46,175],"such":[47],"conditions,":[48],"but":[49],"often":[50],"produce":[51],"sparse":[52],"noisy":[54],"data.":[55],"Therefore,":[56],"promising":[58],"approach":[59,168],"fuse":[62],"information":[63,132],"from":[64],"both":[65],"sensors.":[66],"this":[68],"work,":[69],"we":[70,110],"propose":[71,111],"novel":[73],"framework":[74],"enhance":[76],"camera-only":[77,141],"baselines":[78],"by":[79,144,154],"integrating":[80],"diffusion":[82],"model":[83],"into":[84],"camera-radar":[86,151,173],"fusion":[87,152,174],"architecture.":[88],"We":[89],"leverage":[90],"point":[92,107],"features":[93],"create":[95],"pseudo-masks":[96],"using":[97,172],"Segment-Anything":[99],"model,":[100],"treating":[101],"projected":[103],"points":[105],"prompts.":[108],"Additionally,":[109],"noise":[113],"reduction":[114],"unit":[115],"denoise":[117],"these":[118],"pseudo-masks,":[119],"which":[120],"further":[122],"used":[123],"generate":[125],"inpainted":[126],"images":[127],"that":[128],"complete":[129],"missing":[131],"original":[135],"images.":[136],"Our":[137],"method":[138],"improves":[139],"segmentation":[142,171],"baseline":[143],"2.63%":[145],"mIoU":[147,157],"enhances":[149],"our":[150,167],"architecture":[153],"1.48%":[155],"on":[158],"Waterscenes":[160],"dataset.":[161],"This":[162],"demonstrates":[163],"effectiveness":[165],"semantic":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
