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Stereo 4D Radar for 3D Object Detection: Integrating Geometric Alignment and Absolute Velocity Estimation

arXiv · AI, language, vision and robotics · article · Sep 2, 2026 · UTC

Four-dimensional (4D) Radar is a powerful sensing modality capable of detecting surrounding three-dimensional (3D) objects under diverse weather conditions and providing Doppler-based motion information. However, raw 4D Radar signals contain significant clutter from road surfaces, guardrails, and surrounding vehicles, along with multipath-induced ghost reflections and the receiver's inherent noise floor. Consequently, preprocessing algorithms designed to remove such invalid measurements often make the Radar data excessively sparse. Moreover, the Doppler measurements provided by 4D Radar descri

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