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STAR: Scene- and Task-Aware 4D Radar Preprocessing Towards End-to-End Cognitive Radar

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Four-dimensional (4D) Radar has emerged as a key sensor for environmental perception, providing range, azimuth, elevation, and Doppler measurements while remaining robust to illumination changes and adverse weather conditions. However, conventional Radar preprocessing methods, such as constant false alarm rate (CFAR) detection, select measurements primarily based on signal-level criteria and may therefore discard information valuable for downstream perception during point cloud generation. In addition, existing 4D Radar perception pipelines typically optimize Radar data processing and downstre

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