{"id":"https://openalex.org/W4412939478","doi":"https://doi.org/10.1109/tcsvt.2025.3595566","title":"RC-ROSNet: Fusing 3D Radar Range-Angle Heat Maps and Camera Images for Radar Object Segmentation","display_name":"RC-ROSNet: Fusing 3D Radar Range-Angle Heat Maps and Camera Images for Radar Object Segmentation","publication_year":2025,"publication_date":"2025-08-04","ids":{"openalex":"https://openalex.org/W4412939478","doi":"https://doi.org/10.1109/tcsvt.2025.3595566"},"language":"en","primary_location":{"id":"doi:10.1109/tcsvt.2025.3595566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsvt.2025.3595566","pdf_url":null,"source":{"id":"https://openalex.org/S115173108","display_name":"IEEE Transactions on Circuits and Systems for Video Technology","issn_l":"1051-8215","issn":["1051-8215","1558-2205"],"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 Transactions on Circuits and Systems for Video Technology","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/A5026648615","display_name":"Long Zhuang","orcid":"https://orcid.org/0000-0001-6312-0948"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Zhuang","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing, China","Ministry of Education, School of Instrument Science and Engineering, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-6312-0948","affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"Ministry of Education, School of Instrument Science and Engineering, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051964287","display_name":"Yiqing Yao","orcid":"https://orcid.org/0000-0001-5721-7129"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiqing Yao","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing, China","Ministry of Education, School of Instrument Science and Engineering, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-5721-7129","affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"Ministry of Education, School of Instrument Science and Engineering, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100673520","display_name":"Nuo Li","orcid":"https://orcid.org/0009-0003-7500-5826"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nuo Li","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing, China","Ministry of Education, School of Instrument Science and Engineering, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0003-7500-5826","affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"Ministry of Education, School of Instrument Science and Engineering, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":7.3944,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.96483962,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"36","issue":"1","first_page":"421","last_page":"434"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12389","display_name":"Infrared Target Detection Methodologies","score":0.988099992275238,"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/T12389","display_name":"Infrared Target Detection Methodologies","score":0.988099992275238,"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/T11038","display_name":"Advanced SAR Imaging Techniques","score":0.9836999773979187,"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/T11609","display_name":"Geophysical Methods and Applications","score":0.9769999980926514,"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/computer-vision","display_name":"Computer vision","score":0.7418360710144043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7141177654266357},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.6435353755950928},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5429726243019104},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5302635431289673},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5139248371124268},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.49633413553237915},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3823294937610626},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.18579164147377014},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07894584536552429}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7418360710144043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7141177654266357},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.6435353755950928},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5429726243019104},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5302635431289673},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5139248371124268},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.49633413553237915},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3823294937610626},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.18579164147377014},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07894584536552429}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcsvt.2025.3595566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsvt.2025.3595566","pdf_url":null,"source":{"id":"https://openalex.org/S115173108","display_name":"IEEE Transactions on Circuits and Systems for Video Technology","issn_l":"1051-8215","issn":["1051-8215","1558-2205"],"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 Transactions on Circuits and Systems for Video Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G18042075","display_name":null,"funder_award_id":"2024A1515010269","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G3620990611","display_name":null,"funder_award_id":"2242024RCB0023","funder_id":"https://openalex.org/F4320324856","funder_display_name":"Southeast University"},{"id":"https://openalex.org/G5543794536","display_name":null,"funder_award_id":"52471358","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7408965570","display_name":null,"funder_award_id":"BM2023013","funder_id":"https://openalex.org/F4320325437","funder_display_name":"Jiangsu Science and Technology Department"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324856","display_name":"Southeast University","ror":"https://ror.org/04ct4d772"},{"id":"https://openalex.org/F4320325437","display_name":"Jiangsu Science and Technology Department","ror":null},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W2194775991","https://openalex.org/W2511125977","https://openalex.org/W2511561981","https://openalex.org/W2586298574","https://openalex.org/W2962888833","https://openalex.org/W2963150697","https://openalex.org/W2964309882","https://openalex.org/W2999423154","https://openalex.org/W3036394006","https://openalex.org/W3097947358","https://openalex.org/W3120351402","https://openalex.org/W3128655704","https://openalex.org/W3134772664","https://openalex.org/W3161421216","https://openalex.org/W3165025444","https://openalex.org/W3177334024","https://openalex.org/W3197881297","https://openalex.org/W3200188174","https://openalex.org/W4206977421","https://openalex.org/W4214736753","https://openalex.org/W4225986494","https://openalex.org/W4226345352","https://openalex.org/W4285303928","https://openalex.org/W4287887906","https://openalex.org/W4290715566","https://openalex.org/W4296872882","https://openalex.org/W4312707458","https://openalex.org/W4312831872","https://openalex.org/W4313028649","https://openalex.org/W4366966647","https://openalex.org/W4367154228","https://openalex.org/W4378647934","https://openalex.org/W4378696925","https://openalex.org/W4385245566","https://openalex.org/W4385356289","https://openalex.org/W4386057747","https://openalex.org/W4386065453","https://openalex.org/W4386858916","https://openalex.org/W4387092319","https://openalex.org/W4387245323","https://openalex.org/W4387448642","https://openalex.org/W4387587672","https://openalex.org/W4387623951","https://openalex.org/W4388209234","https://openalex.org/W4389692404","https://openalex.org/W4391365617","https://openalex.org/W4391877825","https://openalex.org/W4391992324","https://openalex.org/W4392093365","https://openalex.org/W4392908306","https://openalex.org/W4394593117","https://openalex.org/W4394711210","https://openalex.org/W4396680691","https://openalex.org/W4399311102","https://openalex.org/W4400904478","https://openalex.org/W4401942427"],"related_works":["https://openalex.org/W2121524756","https://openalex.org/W782553550","https://openalex.org/W4379231730","https://openalex.org/W1987967678","https://openalex.org/W4389858081","https://openalex.org/W2633218168","https://openalex.org/W1522196789","https://openalex.org/W4313855562","https://openalex.org/W2091422131","https://openalex.org/W2742737769"],"abstract_inverted_index":{"Modern":[0],"millimeter-wave":[1],"(mmWave)":[2],"radar":[3,14,29,39,46,67],"heat":[4,15,30,49],"map-based":[5],"object":[6,22,40,70,109],"detection":[7],"techniques":[8],"have":[9],"shown":[10],"significant":[11],"potential.":[12],"However,":[13],"maps":[16,27,31,50],"still":[17],"pose":[18],"challenges":[19],"for":[20,61,68,75,89,198],"fine-grained":[21],"differentiation,":[23],"and":[24,65,93,104,162,170,186,192],"fusing":[25],"camera":[26,52,59],"with":[28,51,189],"remains":[32],"challenging.":[33],"This":[34],"paper":[35,136],"proposes":[36],"a":[37,112],"multi-sensor":[38],"segmentation":[41],"(ROS)":[42],"method":[43,74,178],"that":[44,175],"fuses":[45],"range-angle":[47],"(RA)":[48],"RGB":[53,77],"maps,":[54],"leveraging":[55],"the":[56,79,87,102,127,132,138,145,155,160,163,168,176,184],"advantages":[57],"of":[58,107],"sensors":[60],"extracting":[62,69],"semantic":[63],"information":[64],"mmWave":[66],"position":[71],"information.":[72],"A":[73,96],"mapping":[76],"to":[78,100,125,148],"RA":[80,164],"coordinate":[81],"system":[82],"(RMTR)":[83],"is":[84,98,200],"proposed,":[85],"eliminating":[86],"need":[88],"additional":[90],"training":[91],"branches":[92],"sensor":[94],"calibration.":[95],"Transformer":[97],"utilized":[99],"predict":[101],"range":[103],"angle":[105],"matrices":[106,116],"each":[108],"separately":[110],"from":[111],"global":[113],"perspective.":[114],"These":[115],"then":[117],"undergo":[118],"an":[119],"element-wise":[120],"multiplication":[121],"(Hadamard":[122],"product)":[123],"operation":[124],"generate":[126],"final":[128],"pseudo-RA":[129,156],"map.":[130],"For":[131],"fusion":[133,140,152],"method,":[134],"this":[135],"introduces":[137],"cross-attention":[139,146],"module":[141],"(CAF),":[142],"which":[143],"uses":[144],"mechanism":[147],"achieve":[149],"more":[150],"efficient":[151],"by":[153],"treating":[154],"feature":[157,165],"map":[158,166],"as":[159,167],"Query":[161],"Key":[169],"Value.":[171],"Extensive":[172],"experiments":[173],"show":[174],"proposed":[177],"achieves":[179],"state-of-the-art":[180],"(SOTA)":[181],"performance":[182],"on":[183],"CRUW":[185],"CARRADA":[187],"datasets,":[188],"fewer":[190],"parameters":[191],"reduced":[193],"computational":[194],"complexity.":[195],"Our":[196],"code":[197],"RC-ROSNet":[199],"available":[201],"at":[202],"https://github.com/Zhuanglong2/RCROSNet.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
