arxivcs.CVcs.AI2026-07-10
4DR360: State Reasoning for Joint 3D Detection and Occupancy Prediction in 4D Radar-Camera Full-Scene Perception
Xiaokai Bai, Lianqing Zheng, Runwei Guan, Songkai Wang, Siyuan Cao, Hui-liang Shen
Reliable autonomous driving requires full-scene perception that couples foreground objects with dense semantic layout. Recently, 4D millimeter-wave radar has emerged as a robust and affordable sensor, yet its sparse returns make radar-camera fusion necessary for comprehensive sce…