Author

Lianqing Zheng

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Preprint Sep 2026

SGDet3D++: Geometry-Grounded Semantics for 4D Radar and Camera 3D Object Detection

4D radar complements dense image semantics with long-range geometry and radial motion, but existing radar--camera detectors largely solve \emph{where} to align the modalities while leaving \emph{whether} a piece of evidence supports an evolving object hypothesis implicit. An image token may describe an occluder, a near...

Xiao-Kai Bai, Zhen-Yu Fan, Lian-Qing Zheng et al. · 0 citations

Preprint Jul 2026

4DR360: State Reasoning for Joint 3D Detection and Occupancy Prediction in 4D Radar-Camera Full-Scene Perception

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 scene understanding. Existing radar-camera...

Xiaokai Bai, Lianqing Zheng, Runwei Guan et al. · 0 citations