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Electrical Engineering and Systems Science > Signal Processing
Title: 4D Millimeter-Wave Radar in Autonomous Driving: A Survey
(Submitted on 7 Jun 2023 (v1), last revised 26 Apr 2024 (this version, v4))
Abstract: The 4D millimeter-wave (mmWave) radar, proficient in measuring the range, azimuth, elevation, and velocity of targets, has attracted considerable interest within the autonomous driving community. This is attributed to its robustness in extreme environments and the velocity and elevation measurement capabilities. However, despite the rapid advancement in research related to its sensing theory and application, there is a conspicuous absence of comprehensive surveys on the subject of 4D mmWave radar. In an effort to bridge this gap and stimulate future research, this paper presents an exhaustive survey on the utilization of 4D mmWave radar in autonomous driving. Initially, the paper provides reviews on the theoretical background and progress of 4D mmWave radars, encompassing aspects such as the signal processing workflow, resolution improvement approaches, and extrinsic calibration process. Learning-based radar data quality improvement methods are present following. Then, this paper introduces relevant datasets and application algorithms in autonomous driving perception, localization and mapping tasks. Finally, this paper concludes by forecasting future trends in the realm of 4D mmWave radar in autonomous driving. To the best of our knowledge, this is the first survey specifically dedicated to the 4D mmWave radar in autonomous driving.
Submission history
From: Zeyu Han [view email][v1] Wed, 7 Jun 2023 08:33:00 GMT (1781kb,D)
[v2] Wed, 14 Jun 2023 09:10:02 GMT (1781kb,D)
[v3] Mon, 19 Feb 2024 03:09:23 GMT (13904kb,D)
[v4] Fri, 26 Apr 2024 10:56:42 GMT (14203kb,D)
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