Runwei Guan
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View article: Radarnext: lightweight and real-time 3D object detector based on 4D mmWave imaging radar
Radarnext: lightweight and real-time 3D object detector based on 4D mmWave imaging radar Open
Three-dimensional (3D) object detection is essential for autonomous driving (AD) and advanced driver assistance systems (ADAS). However, most existing 3D object detection works primarily focus more on the detection accuracy than on the det…
View article: Da Yu: Towards USV-Based Image Captioning for Waterway Surveillance and Scene Understanding
Da Yu: Towards USV-Based Image Captioning for Waterway Surveillance and Scene Understanding Open
Automated waterway environment perception is crucial for enabling unmanned surface vessels (USVs) to understand their surroundings and make informed decisions. Most existing waterway perception models primarily focus on instance-level obje…
View article: CornerPoint3D: Look at the Nearest Corner Instead of the Center
CornerPoint3D: Look at the Nearest Corner Instead of the Center Open
3D object detection aims to predict object centers, dimensions, and rotations from LiDAR point clouds. Despite its simplicity, LiDAR captures only the near side of objects, making center-based detectors prone to poor localization accuracy …
View article: OptiPMB: Enhancing 3D Multi-Object Tracking with Optimized Poisson Multi-Bernoulli Filtering
OptiPMB: Enhancing 3D Multi-Object Tracking with Optimized Poisson Multi-Bernoulli Filtering Open
Accurate 3D multi-object tracking (MOT) is crucial for autonomous driving, as it enables robust perception, navigation, and planning in complex environments. While deep learning-based solutions have demonstrated impressive 3D MOT performan…
View article: Cognitive Disentanglement for Referring Multi-Object Tracking
Cognitive Disentanglement for Referring Multi-Object Tracking Open
As a significant application of multi-source information fusion in intelligent transportation perception systems, Referring Multi-Object Tracking (RMOT) involves localizing and tracking specific objects in video sequences based on language…
View article: Talk2PC: Enhancing 3D Visual Grounding through LiDAR and Radar Point Clouds Fusion for Autonomous Driving
Talk2PC: Enhancing 3D Visual Grounding through LiDAR and Radar Point Clouds Fusion for Autonomous Driving Open
Embodied outdoor scene understanding forms the foundation for autonomous agents to perceive, analyze, and react to dynamic driving environments. However, existing 3D understanding is predominantly based on 2D Vision-Language Models (VLMs),…
View article: Doracamom: Joint 3D Detection and Occupancy Prediction with Multi-view 4D Radars and Cameras for Omnidirectional Perception
Doracamom: Joint 3D Detection and Occupancy Prediction with Multi-view 4D Radars and Cameras for Omnidirectional Perception Open
3D object detection and occupancy prediction are critical tasks in autonomous driving, attracting significant attention. Despite the potential of recent vision-based methods, they encounter challenges under adverse conditions. Thus, integr…
View article: 3rd Workshop on Maritime Computer Vision (MaCVi) 2025: Challenge Results
3rd Workshop on Maritime Computer Vision (MaCVi) 2025: Challenge Results Open
The 3rd Workshop on Maritime Computer Vision (MaCVi) 2025 addresses maritime computer vision for Unmanned Surface Vehicles (USV) and underwater. This report offers a comprehensive overview of the findings from the challenges. We provide bo…
View article: RadarNeXt: Real-Time and Reliable 3D Object Detector Based On 4D mmWave Imaging Radar
RadarNeXt: Real-Time and Reliable 3D Object Detector Based On 4D mmWave Imaging Radar Open
3D object detection is crucial for Autonomous Driving (AD) and Advanced Driver Assistance Systems (ADAS). However, most 3D detectors prioritize detection accuracy, often overlooking network inference speed in practical applications. In thi…
View article: RePaIR: Repaired pruning at initialization resilience
RePaIR: Repaired pruning at initialization resilience Open
Over the past decade, the size of neural network models has gradually increased in both breadth and depth, leading to a growing interest in the application of neural network pruning. Unstructured pruning provides fine-grained sparsity and …
View article: UniBEVFusion: Unified Radar-Vision BEVFusion for 3D Object Detection
UniBEVFusion: Unified Radar-Vision BEVFusion for 3D Object Detection Open
4D millimeter-wave (MMW) radar, which provides both height information and dense point cloud data over 3D MMW radar, has become increasingly popular in 3D object detection. In recent years, radar-vision fusion models have demonstrated perf…
View article: DRIVE: Dependable Robust Interpretable Visionary Ensemble Framework in Autonomous Driving
DRIVE: Dependable Robust Interpretable Visionary Ensemble Framework in Autonomous Driving Open
Recent advancements in autonomous driving have seen a paradigm shift towards end-to-end learning paradigms, which map sensory inputs directly to driving actions, thereby enhancing the robustness and adaptability of autonomous vehicles. How…
View article: PEPL: Precision-Enhanced Pseudo-Labeling for Fine-Grained Image Classification in Semi-Supervised Learning
PEPL: Precision-Enhanced Pseudo-Labeling for Fine-Grained Image Classification in Semi-Supervised Learning Open
Fine-grained image classification has witnessed significant advancements with the advent of deep learning and computer vision technologies. However, the scarcity of detailed annotations remains a major challenge, especially in scenarios wh…
View article: NanoMVG: USV-Centric Low-Power Multi-Task Visual Grounding based on Prompt-Guided Camera and 4D mmWave Radar
NanoMVG: USV-Centric Low-Power Multi-Task Visual Grounding based on Prompt-Guided Camera and 4D mmWave Radar Open
Recently, visual grounding and multi-sensors setting have been incorporated into perception system for terrestrial autonomous driving systems and Unmanned Surface Vehicles (USVs), yet the high complexity of modern learning-based visual gro…
View article: radarODE: An ODE-Embedded Deep Learning Model for Contactless ECG Reconstruction from Millimeter-Wave Radar
radarODE: An ODE-Embedded Deep Learning Model for Contactless ECG Reconstruction from Millimeter-Wave Radar Open
Radar-based contactless cardiac monitoring has become a popular research direction recently, but the fine-grained electrocardiogram (ECG) signal is still hard to reconstruct from millimeter-wave radar signal. The key obstacle is to decoupl…
View article: Prediction of Immune Checkpoint Inhibitors Treatment Response of Non-small Cell Lung Cancer Patients from Serial Computed Tomography Scans Based on Global Self-Attention Mechanism
Prediction of Immune Checkpoint Inhibitors Treatment Response of Non-small Cell Lung Cancer Patients from Serial Computed Tomography Scans Based on Global Self-Attention Mechanism Open
The aim of the present study was to predict the response of non-small cell lung cancer (NSCLC) patients to immune checkpoint inhibitors (ICIs) by leveraging computed tomography (CT) images using deep learning techniques. Retrospectively, 6…
View article: Talk2Radar: Bridging Natural Language with 4D mmWave Radar for 3D Referring Expression Comprehension
Talk2Radar: Bridging Natural Language with 4D mmWave Radar for 3D Referring Expression Comprehension Open
Embodied perception is essential for intelligent vehicles and robots in interactive environmental understanding. However, these advancements primarily focus on vision, with limited attention given to using 3D modeling sensors, restricting …
View article: Referring Flexible Image Restoration
Referring Flexible Image Restoration Open
In reality, images often exhibit multiple degradations, such as rain and fog at night (triple degradations). However, in many cases, individuals may not want to remove all degradations, for instance, a blurry lens revealing a beautiful sno…
View article: WaterVG: Waterway Visual Grounding based on Text-Guided Vision and mmWave Radar
WaterVG: Waterway Visual Grounding based on Text-Guided Vision and mmWave Radar Open
The perception of waterways based on human intent is significant for autonomous navigation and operations of Unmanned Surface Vehicles (USVs) in water environments. Inspired by visual grounding, we introduce WaterVG, the first visual groun…
View article: Achelous++: Power-Oriented Water-Surface Panoptic Perception Framework on Edge Devices based on Vision-Radar Fusion and Pruning of Heterogeneous Modalities
Achelous++: Power-Oriented Water-Surface Panoptic Perception Framework on Edge Devices based on Vision-Radar Fusion and Pruning of Heterogeneous Modalities Open
Urban water-surface robust perception serves as the foundation for intelligent monitoring of aquatic environments and the autonomous navigation and operation of unmanned vessels, especially in the context of waterway safety. It is worth no…
View article: Exploring Radar Data Representations in Autonomous Driving: A Comprehensive Review
Exploring Radar Data Representations in Autonomous Driving: A Comprehensive Review Open
With the rapid advancements of sensor technology and deep learning, autonomous driving systems are providing safe and efficient access to intelligent vehicles as well as intelligent transportation. Among these equipped sensors, the radar s…
View article: Mask-VRDet: A robust riverway panoptic perception model based on dual graph fusion of vision and 4D mmWave radar
Mask-VRDet: A robust riverway panoptic perception model based on dual graph fusion of vision and 4D mmWave radar Open
With the development of Unmanned Surface Vehicles (USVs), the perception of inland waterways has become significant to autonomous navigation. RGB cameras can capture images with rich semantic features, but they would fail in adverse weathe…
View article: ASY-VRNet: Waterway Panoptic Driving Perception Model based on Asymmetric Fair Fusion of Vision and 4D mmWave Radar
ASY-VRNet: Waterway Panoptic Driving Perception Model based on Asymmetric Fair Fusion of Vision and 4D mmWave Radar Open
Panoptic Driving Perception (PDP) is critical for the autonomous navigation of Unmanned Surface Vehicles (USVs). A PDP model typically integrates multiple tasks, necessitating the simultaneous and robust execution of various perception tas…
View article: FindVehicle and VehicleFinder: a NER dataset for natural language-based vehicle retrieval and a keyword-based cross-modal vehicle retrieval system
FindVehicle and VehicleFinder: a NER dataset for natural language-based vehicle retrieval and a keyword-based cross-modal vehicle retrieval system Open
Natural language (NL) based vehicle retrieval is a task aiming to retrieve a vehicle that is most consistent with a given NL query from among all candidate vehicles. Because NL query can be easily obtained, such a task has a promising pros…
View article: Radar-STDA: A High-Performance Spatial-Temporal Denoising Autoencoder for Interference Mitigation of FMCW Radars
Radar-STDA: A High-Performance Spatial-Temporal Denoising Autoencoder for Interference Mitigation of FMCW Radars Open
With its small size, low cost and all-weather operation, millimeter-wave radar can accurately measure the distance, azimuth and radial velocity of a target compared to other traffic sensors. However, in practice, millimeter-wave radars are…
View article: Achelous: A Fast Unified Water-surface Panoptic Perception Framework based on Fusion of Monocular Camera and 4D mmWave Radar
Achelous: A Fast Unified Water-surface Panoptic Perception Framework based on Fusion of Monocular Camera and 4D mmWave Radar Open
Current perception models for different tasks usually exist in modular forms on Unmanned Surface Vehicles (USVs), which infer extremely slowly in parallel on edge devices, causing the asynchrony between perception results and USV position,…
View article: WaterScenes: A Multi-Task 4D Radar-Camera Fusion Dataset and Benchmarks for Autonomous Driving on Water Surfaces
WaterScenes: A Multi-Task 4D Radar-Camera Fusion Dataset and Benchmarks for Autonomous Driving on Water Surfaces Open
Autonomous driving on water surfaces plays an essential role in executing hazardous and time-consuming missions, such as maritime surveillance, survivors rescue, environmental monitoring, hydrography mapping and waste cleaning. This work p…