{"id":"https://openalex.org/W4404788047","doi":"https://doi.org/10.1109/tiv.2024.3507538","title":"DPFT: Dual Perspective Fusion Transformer for Camera-Radar-Based Object Detection","display_name":"DPFT: Dual Perspective Fusion Transformer for Camera-Radar-Based Object Detection","publication_year":2024,"publication_date":"2024-11-27","ids":{"openalex":"https://openalex.org/W4404788047","doi":"https://doi.org/10.1109/tiv.2024.3507538"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2024.3507538","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3507538","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Transactions on Intelligent Vehicles","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/tiv.2024.3507538","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056598952","display_name":"Felix Fent","orcid":"https://orcid.org/0000-0002-8857-1275"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"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","US"],"is_corresponding":false,"raw_author_name":"Felix Fent","raw_affiliation_strings":["Technical University of Munich, School of Engineering and Design, Institute of Automotive Technology, Munich Institute of Robotics and Machine Intelligence (MIRMI), München, Germany","School of Engineering and Design, Institute of Automotive Technology and Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-8857-1275","affiliations":[{"raw_affiliation_string":"Technical University of Munich, School of Engineering and Design, Institute of Automotive Technology, Munich Institute of Robotics and Machine Intelligence (MIRMI), München, Germany","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"School of Engineering and Design, Institute of Automotive Technology and Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066202708","display_name":"Andras Palffy","orcid":"https://orcid.org/0000-0003-1663-4967"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Andras Palffy","raw_affiliation_strings":["Microwave Sensing, Signals and Systems (MS3) Group, Department of Microelectronics, Delft University of Technology, and Perciv AI, Delft, BC, The Netherlands","Microwave Sensing, Signals and Systems (MS3) Group, Department of Microelectronics, Perciv AI and Delft University of Technology, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-1663-4967","affiliations":[{"raw_affiliation_string":"Microwave Sensing, Signals and Systems (MS3) Group, Department of Microelectronics, Delft University of Technology, and Perciv AI, Delft, BC, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Microwave Sensing, Signals and Systems (MS3) Group, Department of Microelectronics, Perciv AI and Delft University of Technology, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001917215","display_name":"Holger Caesar","orcid":"https://orcid.org/0000-0001-5099-6297"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Holger Caesar","raw_affiliation_strings":["Intelligent Vehicles (IV) Section, Department of Cognitive Robotics, Delft University of Technology, Delft, BC, The Netherlands","Intelligent Vehicles (IV) Section, Department of Cognitive Robotics, Delft University of Technology, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Vehicles (IV) Section, Department of Cognitive Robotics, Delft University of Technology, Delft, BC, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Intelligent Vehicles (IV) Section, Department of Cognitive Robotics, Delft University of Technology, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":27.424,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.99486875,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"10","issue":"11","first_page":"4929","last_page":"4941"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12389","display_name":"Infrared Target Detection Methodologies","score":0.9879000186920166,"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":0.9879000186920166,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9811000227928162,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/T14158","display_name":"Optical Systems and Laser Technology","score":0.9599000215530396,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6449626684188843},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5847079753875732},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.5560212731361389},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5317738652229309},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5093032121658325},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.4872685670852661},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4624071419239044},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4425557851791382},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3724345266819},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22277674078941345},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.19244834780693054},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.17911145091056824},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.12095344066619873},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09689033031463623},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.049552977085113525}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6449626684188843},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5847079753875732},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.5560212731361389},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5317738652229309},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5093032121658325},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.4872685670852661},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4624071419239044},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4425557851791382},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3724345266819},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22277674078941345},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.19244834780693054},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.17911145091056824},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.12095344066619873},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09689033031463623},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.049552977085113525},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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":2,"locations":[{"id":"doi:10.1109/tiv.2024.3507538","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3507538","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Transactions on Intelligent Vehicles","raw_type":"journal-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1766843","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1766843","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/tiv.2024.3507538","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3507538","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Transactions on Intelligent Vehicles","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.550000011920929,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2018871932","https://openalex.org/W641279757","https://openalex.org/W370975646","https://openalex.org/W1670566515","https://openalex.org/W4242022592","https://openalex.org/W596972243","https://openalex.org/W2149537132","https://openalex.org/W4313230280","https://openalex.org/W69751022"],"abstract_inverted_index":{"The":[0],"perception":[1,30],"of":[2,28,55,95],"autonomous":[3],"vehicles":[4],"has":[5,135],"to":[6,34,43,81,100,117],"be":[7],"efficient,":[8],"robust,":[9],"and":[10,25,59,107,114,124,151],"cost-effective.":[11],"However,":[12],"cameras":[13],"are":[14,23,49],"not":[15],"robust":[16],"against":[17,147],"severe":[18],"weather":[19,149],"conditions,":[20],"lidar":[21],"sensors":[22],"expensive,":[24],"the":[26,35,52,96,112,126,140],"performance":[27,138],"radar-based":[29],"is":[31],"still":[32],"inferior":[33],"others.":[36],"Camera-radar":[37],"fusion":[38,72,127],"methods":[39],"have":[40],"been":[41],"proposed":[42],"address":[44],"this":[45],"issue,":[46],"but":[47],"these":[48,83],"constrained":[50],"by":[51],"typical":[53],"sparsity":[54],"radar":[56,89,92],"point":[57,98],"clouds":[58,99],"often":[60],"designed":[61,80],"for":[62],"radars":[63,120],"without":[64],"elevation":[65,122],"information.":[66],"We":[67],"propose":[68],"a":[69,132,153],"novel":[70],"camera-radar":[71],"approach":[73],"called":[74],"Dual":[75],"Perspective":[76],"Fusion":[77],"Transformer":[78],"(DPFT),":[79],"overcome":[82],"limitations.":[84],"Our":[85],"method":[86],"leverages":[87],"lower-level":[88],"data":[90],"(the":[91],"cube)":[93],"instead":[94],"processed":[97],"preserve":[101],"as":[102,105],"much":[103],"information":[104,123],"possible":[106],"employs":[108],"projections":[109],"in":[110],"both":[111],"camera":[113,129],"ground":[115],"planes":[116],"effectively":[118],"use":[119],"with":[121,128],"simplify":[125],"data.":[130],"As":[131],"result,":[133],"DPFT":[134],"demonstrated":[136],"state-of-the-art":[137],"on":[139],"K-Radar":[141],"dataset":[142],"while":[143],"showing":[144],"remarkable":[145],"robustness":[146],"adverse":[148],"conditions":[150],"maintaining":[152],"low":[154],"inference":[155],"time.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":11},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":1}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2025-10-10T00:00:00"}