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SGDet3D++: Geometry-Grounded Semantics for 4D Radar and Camera 3D Object Detection

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

4D radar complements dense image semantics with long-range geometry and radial motion, but existing radar--camera detectors largely solve \emph{where} to align the modalities while leaving \emph{whether} a piece of evidence supports an evolving object hypothesis implicit. An image token may describe an occluder, a nearby radar return may belong to another object, and a pose-aligned memory slot may carry incompatible motion. We formulate \emph{hypothesis-conditioned evidence grounding}, which separates candidate access from evidence use: semantic, geometric, or temporal evidence is filtered or

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