{"id":"https://openalex.org/W4312831872","doi":"https://doi.org/10.1109/tim.2022.3229703","title":"T-RODNet: Transformer for Vehicular Millimeter-Wave Radar Object Detection","display_name":"T-RODNet: Transformer for Vehicular Millimeter-Wave Radar Object Detection","publication_year":2022,"publication_date":"2022-12-15","ids":{"openalex":"https://openalex.org/W4312831872","doi":"https://doi.org/10.1109/tim.2022.3229703"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2022.3229703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2022.3229703","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5080605171","display_name":"Tiezhen Jiang","orcid":"https://orcid.org/0000-0003-1293-0013"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tiezhen Jiang","raw_affiliation_strings":["School of Integrated Circuits, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0003-1293-0013","affiliations":[{"raw_affiliation_string":"School of Integrated Circuits, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026648615","display_name":"Long Zhuang","orcid":"https://orcid.org/0000-0001-6312-0948"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Zhuang","raw_affiliation_strings":["School of Integrated Circuits, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0001-6312-0948","affiliations":[{"raw_affiliation_string":"School of Integrated Circuits, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056058299","display_name":"An Qi","orcid":"https://orcid.org/0000-0002-5790-0072"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi An","raw_affiliation_strings":["School of Integrated Circuits, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-5790-0072","affiliations":[{"raw_affiliation_string":"School of Integrated Circuits, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001803357","display_name":"Jianhua Wang","orcid":"https://orcid.org/0000-0002-4624-1542"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Wang","raw_affiliation_strings":["School of Integrated Circuits, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-4624-1542","affiliations":[{"raw_affiliation_string":"School of Integrated Circuits, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049943465","display_name":"Kai Xiao","orcid":"https://orcid.org/0000-0002-0908-7363"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Xiao","raw_affiliation_strings":["School of Integrated Circuits, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-0908-7363","affiliations":[{"raw_affiliation_string":"School of Integrated Circuits, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009316585","display_name":"Anqi Wang","orcid":"https://orcid.org/0000-0002-5796-7701"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anqi Wang","raw_affiliation_strings":["School of Integrated Circuits, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-5796-7701","affiliations":[{"raw_affiliation_string":"School of Integrated Circuits, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5080605171"],"corresponding_institution_ids":["https://openalex.org/I143868143"],"apc_list":null,"apc_paid":null,"fwci":5.7287,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.97035058,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"72","issue":null,"first_page":"1","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11609","display_name":"Geophysical Methods and Applications","score":0.9944999814033508,"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"}},"topics":[{"id":"https://openalex.org/T11609","display_name":"Geophysical Methods and Applications","score":0.9944999814033508,"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"}},{"id":"https://openalex.org/T10752","display_name":"Terahertz technology and applications","score":0.9815999865531921,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9787999987602234,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7199780941009521},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5760608911514282},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5685362815856934},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5578862428665161},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5502559542655945},{"id":"https://openalex.org/keywords/extremely-high-frequency","display_name":"Extremely high frequency","score":0.5130337476730347},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.4297904372215271},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42140719294548035},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4146956205368042},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.37462425231933594},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.23719561100006104},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17751741409301758},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.14944925904273987}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7199780941009521},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5760608911514282},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5685362815856934},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5578862428665161},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5502559542655945},{"id":"https://openalex.org/C45764600","wikidata":"https://www.wikidata.org/wiki/Q570342","display_name":"Extremely high frequency","level":2,"score":0.5130337476730347},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.4297904372215271},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42140719294548035},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4146956205368042},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.37462425231933594},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.23719561100006104},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17751741409301758},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.14944925904273987},{"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/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2022.3229703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2022.3229703","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3432977272","display_name":null,"funder_award_id":"2008085MF185","funder_id":"https://openalex.org/F4320334897","funder_display_name":"Natural Science Foundation of Anhui Province"},{"id":"https://openalex.org/G4575471382","display_name":null,"funder_award_id":"61971002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8528217990","display_name":null,"funder_award_id":"1608085MF135","funder_id":"https://openalex.org/F4320334897","funder_display_name":"Natural Science Foundation of Anhui Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334897","display_name":"Natural Science Foundation of Anhui Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1591801644","https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W2064675550","https://openalex.org/W2157331557","https://openalex.org/W2796574722","https://openalex.org/W2910922100","https://openalex.org/W3088179323","https://openalex.org/W3096609285","https://openalex.org/W3097947358","https://openalex.org/W3109915642","https://openalex.org/W3127751679","https://openalex.org/W3128655704","https://openalex.org/W3132002364","https://openalex.org/W3134772664","https://openalex.org/W3138516171","https://openalex.org/W3161421216","https://openalex.org/W3170841864","https://openalex.org/W3171516518","https://openalex.org/W3177334024","https://openalex.org/W3180629550","https://openalex.org/W3196948083","https://openalex.org/W3197392487","https://openalex.org/W3197881297","https://openalex.org/W3198035652","https://openalex.org/W3203841574","https://openalex.org/W3204614423","https://openalex.org/W3204751003","https://openalex.org/W3211328104","https://openalex.org/W4212875960","https://openalex.org/W4214736753","https://openalex.org/W4221053356","https://openalex.org/W4221146673","https://openalex.org/W4226334005","https://openalex.org/W4250482878","https://openalex.org/W4285118451","https://openalex.org/W4295073978","https://openalex.org/W4295940432","https://openalex.org/W4312710812","https://openalex.org/W6631190155","https://openalex.org/W6635446068","https://openalex.org/W6638667902","https://openalex.org/W6739901393","https://openalex.org/W6776949970","https://openalex.org/W6790275670","https://openalex.org/W6791637211","https://openalex.org/W6801350836","https://openalex.org/W6803074111","https://openalex.org/W6840908765"],"related_works":["https://openalex.org/W3170566703","https://openalex.org/W4285278044","https://openalex.org/W2989379302","https://openalex.org/W3138879852","https://openalex.org/W2099244711","https://openalex.org/W2534631787","https://openalex.org/W2143500572","https://openalex.org/W2041526119","https://openalex.org/W4318601897","https://openalex.org/W4224861719"],"abstract_inverted_index":{"Environmental":[0],"perception":[1],"technology":[2],"is":[3,9,59,165],"key":[4],"to":[5,20,88,95,103,175],"self-driving.":[6],"Nowadays,":[7],"this":[8,66],"mostly":[10],"conducted":[11],"using":[12],"cameras":[13],"and":[14,22,40,85,98,111,118,148],"LiDAR,":[15],"despite":[16],"their":[17],"poor":[18,41],"immunity":[19],"interference":[21,176],"high":[23],"price.":[24],"The":[25,151],"millimeter-wave":[26,50],"radar":[27,51],"can":[28,129],"solve":[29],"these":[30],"problems,":[31],"but":[32,160],"the":[33,46,91,105,109,113,132,135,161,178],"current":[34],"radar-based":[35],"models":[36],"suffer":[37],"from":[38],"over-complexity":[39],"global":[42,99],"modeling":[43,106],"capability.":[44],"Moreover,":[45],"anti-interference":[47],"capability":[48,107],"of":[49,79,93,108,134,153,158],"object":[52],"detection":[53],"(ROD)":[54],"techniques":[55],"in":[56],"complex":[57],"environments":[58],"also":[60,170],"a":[61,69,80,172],"major":[62],"challenge.":[63],"Considering":[64],"this,":[65],"article":[67],"proposes":[68],"novel":[70],"model":[71],"called":[72],"Transformer":[73],"ROD":[74],"network":[75,83],"(T-RODNet),":[76],"which":[77,128],"consists":[78],"convolutional":[81],"neural":[82],"(CNN)":[84],"transformer,":[86],"aiming":[87],"simultaneously":[89],"utilize":[90],"ability":[92],"both":[94,146],"acquire":[96],"local":[97],"features.":[100],"In":[101],"order":[102],"improve":[104,131],"encoder":[110],"decoder,":[112],"dimensional":[114],"apart":[115],"module":[116],"(DAM)":[117],"T-window-multihead":[119],"self-attention":[120,123],"(T-W-MSA)/shifted":[121],"window-multihead":[122],"(SW-MSA)":[124],"modules":[125],"are":[126,155],"proposed,":[127],"greatly":[130],"performance":[133,144],"model.":[136],"Experiments":[137],"show":[138],"that":[139],"T-RODNet":[140,154,169],"achieves":[141,171],"state-of-the-art":[142],"(SOTA)":[143],"on":[145,177],"CRUW":[147,179],"CARRADA":[149],"datasets.":[150],"GFLOPs":[152],"only":[156],"8.5%":[157],"RODNet-HG,":[159],"average":[162],"precision":[163],"(AP)":[164],"3.84":[166],"higher.":[167],"Besides,":[168],"strong":[173],"resistance":[174],"dataset":[180],"with":[181],"noise":[182],"added.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}