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https://github.com/Radar-Camera-Fusion/Awesome-Radar-Camera-Fusion
Radar Camera Fusion in Autonomous Driving
https://github.com/Radar-Camera-Fusion/Awesome-Radar-Camera-Fusion
List: Awesome-Radar-Camera-Fusion
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Radar Camera Fusion in Autonomous Driving
- Host: GitHub
- URL: https://github.com/Radar-Camera-Fusion/Awesome-Radar-Camera-Fusion
- Owner: Radar-Camera-Fusion
- Created: 2022-04-04T14:07:15.000Z (over 2 years ago)
- Default Branch: master
- Last Pushed: 2024-04-11T14:24:09.000Z (8 months ago)
- Last Synced: 2024-04-12T17:29:50.676Z (8 months ago)
- Topics: autonomous-driving, camera, radar, radar-camera
- Homepage: https://radar-camera-fusion.github.io
- Size: 985 KB
- Stars: 153
- Watchers: 3
- Forks: 18
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
- ultimate-awesome - Awesome-Radar-Camera-Fusion - Radar Camera Fusion in Autonomous Driving. (Other Lists / Monkey C Lists)
README
# 
Awesome Radar-Camera Fusion
## Overview
- [Surveys](#surveys)
- [Datasets](#datasets)
- [Methods](#methods)
- [Radar-Camera](#radar-camera)
- [Detection](#detection)
- [Tracking](#tracking)
- [Segmentation](#segmentation)
- [Depth Estimation](#depth-estimation)
- [Odometry](#odometry)
- [Multi-Task](#multi-task)
- [Radar-LiDAR](#radar-lidar)
- [Detection](#detection-1)
- [Camera-LiDAR](#camera-lidar)
- [Detection](#detection-2)
- [Camera-LiDAR-Radar](#camera-lidar-radar)
- [Detection](#detection-3)
- [Citation](#citation)
## Surveys
* 2023 - Radar-Camera Fusion for Object Detection and Semantic Segmentation in Autonomous Driving: A Comprehensive Review __`TIV`__ [[Paper](https://ieeexplore.ieee.org/document/10225711)] [[Website](https://radar-camera-fusion.github.io)] [[GitHub](https://github.com/Radar-Camera-Fusion/Awesome-Radar-Camera-Fusion)]
* 2021 - Deep Multi-Modal Object Detection and Semantic Segmentation for Autonomous Driving: Datasets, Methods, and Challenges __`TITS`__ [[Paper](https://ieeexplore.ieee.org/abstract/document/9000872)] [[Website](https://boschresearch.github.io/multimodalperception/)]
* 2023 - Vision-RADAR fusion for Robotics BEV Detections: A Survey __`IV`__ [[Paper](https://ieeexplore.ieee.org/abstract/document/10186647)]
* 2023 - Radar Perception in Autonomous Driving: Exploring Different Data Representations __`arXiv`__ [[Paper](https://arxiv.org/abs/2312.04861)] [[Website](https://radar-camera-fusion.github.io/radar)] [[GitHub](https://github.com/Radar-Camera-Fusion/Awesome-Radar-Perception)]
## Datasets
| Id | Name | Year | Task | Annotation | Radar Data Representation | Link |
|----|------------------|------|-----------------------------------------------------------------------------------------------------------|--------------------------------|-------------------------------------------------------------|--------------------------------------------------------------|
| 1 | nuScenes | 2019 | Object Detection
Object Tracking | 3D box | Point Cloud | [Website](https://www.nuscenes.org/nuscenes) [Github](https://github.com/nutonomy/nuscenes-devkit) |
| 2 | Astyx | 2019 | Object Detection | 3D box | Point Cloud | [Website](http://www.astyx.net) |
| 3 | SeeingThroughFog | 2020 | Object Detection | 2D box
3D box | Point Cloud | [Website](https://www.uni-ulm.de/en/in/driveu/projects/dense-datasets/) |
| 4 | CARRADA | 2020 | Object Detection
Semantic Segmentation
Object Tracking
Trajectory Prediction | 2D box
2D pixel | Range-Doppler Tensor
Range-Azimuth Tensor | [Website](https://arthurouaknine.github.io/codeanddata/carrada) |
| 5 | HawkEye | 2020 | Semantic Segmentation | 3D point | Point Cloud | [Website](https://jguan.page/HawkEye/) |
| 6 | Zendar | 2020 | Object Detection
Mapping
Localization | 2D box | Range-Doppler Tensor
Range-Azimuth Tensor
Point Cloud | [Website](http://zendar.io/dataset) |
| 7 | RADIATE | 2020 | Object Detection
Object Tracking
SLAM
Scene Understanding | 2D box | Range-Azimuth Tensor | [Website](http://pro.hw.ac.uk/radiate/) |
| 8 | AIODrive | 2020 | Object Detection
Object Tracking
Semantic Segmentation
Trajectory Prediction
Depth Estimation | 2D box
3D box | Point Cloud | [Website](http://www.aiodrive.org/) |
| 9 | CRUW | 2021 | Object Detection | 2D box | Range-Azimuth Tensor | [Website](https:/www.cruwdataset.org/) |
| 10 | RaDICaL | 2021 | Object Detection | 2D box | ADC Signal | [Website](https://publish.illinois.edu/radicaldata/) |
| 11 | RadarScenes | 2021 | Object Detection
Semantic Segmentation
Object Tracking | 2D pixel
3D point | Point Cloud | [Website](https://radar-scenes.com/) |
| 12 | RADDet | 2021 | Object Detection | 2D box
3D box | Range-Azimuth-Doppler Tensor | [Github](https://github.com/ZhangAoCanada/RADDet) |
| 13 | FloW | 2021 | Object Detection | 2D box | Range-Doppler Tensor
Point Cloud | [Website](https://orca-tech.cn/datasets/FloW/Introduction) [Github](https://github.com/ORCA-Uboat/FloW-Dataset) |
| 14 | RADIal | 2021 | Object Detection
Semantic Segmentation | 2D box | ADC Signal
Range-Azimuth-Doppler Tensor
Range-Azimuth Tensor
Range-Doppler Tensor
Point Cloud | [Github](https://github.com/valeoai/RADIal) |
| 15 | VoD | 2022 | Object Detection | 2D box
3D box | __`4D`__ Point Cloud | [Website](https://tudelft-iv.github.io/view-of-delft-dataset/) |
| 16 | Boreas | 2022 | Object Detection
Localization
Odometry | 2D box | Range-Azimuth Tensor | [Website](https://www.boreas.utias.utoronto.ca/) |
| 17 | TJ4DRadSet | 2022 | Object Detection
Object Tracking | 3D box | __`4D`__ Point Cloud | [Website](https://github.com/TJRadarLab/TJ4DRadSet) |
| 18 | K-Radar | 2022 | Object Detection
Object Tracking
SLAM | 3D box | __`4D`__ Range-Azimuth-Doppler Tensor | [Github](https://github.com/kaist-avelab/k-radar) |
| 19 | aiMotive | 2022 | Object Detection | 3D box | Point cloud | [Website](https://github.com/aimotive/aimotive_dataset) |
| 20 | WaterScenes | 2023 | Instance Segmentation
Semantic Segmentation
Free-space Segmentation
Waterline Segmentation
Panoptic Perception | 2D box
2D pixel
2D line
3D point | __`4D`__ Point cloud | [Paper](https://ieeexplore.ieee.org/document/10571852) [Website](https://waterscenes.github.io) [GitHub](https://github.com/waterscenes/waterscenes) |
| 21 | ThermRad | 2023 | Object Detection | 3D box | __`4D`__ Point Cloud | [Paper](https://arxiv.org/abs/2308.10161)|
| 22 | Dual Radar | 2023 | Object Detection
Object Tracking | 3D box | __`4D`__ Point Cloud | [Paper](https://arxiv.org/abs/2310.07602) [GitHub](https://github.com/adept-thu/Dual-Radar)|
## Methods
| Id | Short Name | Year | Task | Annotation | Radar Data Representation | Fusion Level | Dataset | Link |
|----|------------------|------|-------------------------------------------|--------------------------------|---------------------------|---------------|---------------------------------|------------------------------------------------|
| 1 | Chadwick et al. | 2019 | Object Detection | 2D box | Point Cloud | Feature Level | Self-Recorded | |
| 2 | RRPN | 2019 | Object Detection | 2D box | Point Cloud | Data Level | nuScenes | [Code](https://github.com/mrnabati/RRPN) |
| 3 | Jha et al. | 2019 | Object Detection | 2D box | Point Cloud | Object Level | Self-Recorded | |
| 4 | CMGGAN | 2019 | Semantic Segmentation | 2D point | Grid Map | Feature Level | Self-Recorded | |
| 5 | Meyer and Kuschk | 2019 | Object Detection | 3D box | Point Cloud | Data Level | Astyx | |
| 6 | RVNet | 2019 | Object Detection | 2D box | Point Cloud | Feature Level | nuScenes | |
| 7 | FusionNet | 2019 | Object Detection
Object Classification | 2D box | Range-Azimuth Tensor | Feature Level | Self-Recorded | |
| 8 | SO-Net | 2020 | Object Detection
Semantic Segmentation | 2D box
2D pixel | Point Cloud | Feature Level | nuScenes | |
| 9 | SAF-FCOS | 2020 | Object Detection | 2D box | Point Cloud | Feature Level | nuScenes | [Code](https://github.com/Singingkettle/SAF-FCOS) |
| 10 | CRF-Net | 2019 | Object Detection | 2D box | Point Cloud | Data Level | nuScenes
Self-Recorded | [Code](https://github.com/TUMFTM/CameraRadarFusionNet) |
| 11 | Bijelic et al. | 2020 | Object Detection | 2D box | Point Cloud | Feature Level | DENSE | [Code](https://github.com/princeton-computational-imaging/SeeingThroughFog) |
| 12 | BIRANet | 2020 | Object Detection | 2D box | Point Cloud | Feature Level | nuScenes | [Code](https://github.com/RituYadav92/Radar-RGB-Attentive-Multimodal-Object-Detection) |
| 13 | Nabati and Qi | 2020 | Object Detection
Depth Estimation | 2D box | Point Cloud | Mixed Level | nuScenes | |
| 14 | YOdar | 2020 | Object Detection | 2D box | Point Cloud | Feature Level | nuScenes | |
| 15 | CenterNet | 2020 | Object Detection | 3D box | Point Cloud | Feature Level | nuScenes | [Code](https://github.com/mrnabati/CenterFusion) |
| 16 | RODNet | 2020 | Object Detection | 2D box | Range-Azimuth Tensor | Feature Level | CRUW | [Code](https://github.com/yizhou-wang/RODNet) |
| 17 | RAMP-CNN | 2021 | Object Detection | 2D box | Range-Azimuth-Doppler Tensor | Feature Level | CRUW | |
| 18 | Li and Xie | 2021 | Object Detection | 3D box | Point Cloud | Feature Level | nuScenes | |
| 19 | Kim et al. | 2020 | Object Detection | 3D box | Range-Azimuth Tensor | Feature Level | Self-Recorded | |
| 20 | AssociationNet | 2021 | Object Detection | 2D box | Point Cloud | Object Level | Self-Recorded | |
| 21 | RVF-Net | 2021 | Object Detection | 3D box | Point Cloud | Data Level | nuScenes | |
| 22 | Cui et al. | 2021 | Object Detection | 3D box | Point Cloud | Mixed Level | Astyx | |
| 23 | RISFNet | 2021 | Object Detection | 2D box | Point Cloud | Feature Level | FloW | |
| 24 | GRIF Net | 2021 | Object Detection | 3D box | Point Cloud | Feature Level | nuScenes | |
| 25 | Stacker et al. | 2021 | Object Detection | 2D box | Point Cloud | Feature Level | nuScenes | |
| 26 | Harley et al. | 2021 | Semantic Segmentation | 2D pixel | Point Cloud | Feature Level | nuScenes | |
| 27 | RadSegNet | 2022 | Object Detection | 2D box
2D pixel | Point Cloud
Range-Azimuth Tensor | Data | Astyx
RADIATE | |
| 28 | RCBEV | 2022 | Object Detection | 3D box | Point Cloud | Feature Level | nuScenes | |
| 29 | CRAFT | 2022 | Object Detection | 3D box | Point Cloud | Data Level | nuScenes | |
| 30 | DeepFusion | 2022 | Object Detection | 3D box | Point Cloud | Feature Level | Self-reorded
nuScenes | |
| 31 | CramNet | 2022 | Object Detection | 3D box | Range-Azimuth Tensor | Feature Level | RADIATE | |
| 32 | MVFusion | 2023 | Object Detection | 3D box | Point Cloud | Feature Level | nuScenes | |
| 33 | CRN | 2023 | Object Detection | 3D box | Point Cloud | Feature Level | nuScenes | |
## Radar-Camera
### Detection
* 2022 - Detecting Darting Out Pedestrians With Occlusion Aware Sensor Fusion of Radar and Stereo Camera __`TIV`__ [[Paper](https://ieeexplore.ieee.org/document/9941368)]
* 2023 - **RCFusion**: Fusing 4-D Radar and Camera With Bird’s-Eye View Features for 3-D Object Detection [__`VoD`__ __`TJ4DRadSet`__] __`TIM`__ [[Paper](https://ieeexplore.ieee.org/document/10138035)]
* 2023 - **LXL**: LiDAR Exclusive Lean 3D Object Detection with 4D Imaging Radar and Camera Fusion [__`VoD`__ __`TJ4DRadSet`__] __`TIV`__ [[Paper](https://arxiv.org/abs/2307.00724)]
* 2023 - **REDFormer**: Radar Enlightens the Darkness of Camera Perception with Transformers [__`nuScenes`__] __`TIV`__ [[Paper](https://ieeexplore.ieee.org/document/10310160/)] [[Code](https://github.com/PurdueDigitalTwin/REDFormer)]
* 2023 - **SparseFusion3D**: Sparse Sensor Fusion for 3D object detection by Radar and Camera in Environmental Perception [__`nuScenes`__] __`TIV`__ [[Paper](https://ieeexplore.ieee.org/document/10314799)]
* 2023 - **CRN**: Camera Radar Net for Accurate, Robust, Efficient 3D Perception [__`nuScenes`__] __`ICCV`__ [[Paper](https://openaccess.thecvf.com/content/ICCV2023/html/Kim_CRN_Camera_Radar_Net_for_Accurate_Robust_Efficient_3D_Perception_ICCV_2023_paper.html)] [[Code](https://github.com/youngskkim/CRN)]
* 2023 - **RADIANT**: Radar-Image Association Network for 3D Object Detection [__`nuScenes`__] __`AAAI`__ [[Paper](https://ojs.aaai.org/index.php/AAAI/article/view/25270)] [[Code](https://github.com/longyunf/radiant)]
* 2024 - **RCBEVDet**: Radar-camera Fusion in Bird’s Eye View for 3D Object Detection [__`nuScenes`__] __`CVPR`__ [[Paper](https://arxiv.org/abs/2403.16440)] [[Code](https://github.com/VDIGPKU/RCBEVDet)]
* 2024 - **CRKD**: Enhanced Camera-Radar Object Detection with Cross-modality Knowledge Distillation [__`nuScenes`__] __`CVPR`__ [[Paper](https://arxiv.org/abs/2403.19104)]
* 2024 - **RCBEVDet++**: Toward High-accuracy Radar-Camera Fusion 3D Perception Network [__`nuScenes`__] __`arXiv`__ [[Paper](https://arxiv.org/abs/2409.04979)] [[Code](https://github.com/VDIGPKU/RCBEVDet)]
### Tracking
* 2016 - On-Road Vehicle Detection and Tracking Using MMW Radar and Monovision Fusion __`TITS`__ [[Paper](https://ieeexplore.ieee.org/document/7463071)]
* 2019 - Target Detection Algorithm Based on MMW Radar and Camera Fusion __`ITSC`__ [[Paper](https://ieeexplore.ieee.org/document/8917504)]
* 2021 - A Novel Spatio-Temporal Synchronization Method of Roadside Asynchronous MMW Radar-Camera for Sensor Fusion __`TITS`__ [[Paper](https://ieeexplore.ieee.org/abstract/document/9590496)]
* 2021 - Robust Detection and Tracking Method for
Moving Object Based on Radar and Camera Data Fusion __`IEEE Sensors`__ [[Paper](https://ieeexplore.ieee.org/abstract/document/9314172)]
* 2021 - **CFTrack**: Center-based Radar and Camera Fusion for 3D Multi-Object Tracking __`IV Workshops`__ [[Paper](https://ieeexplore.ieee.org/abstract/document/9669223)]
* 2021 - 3D Detection and Tracking for On-road Vehicles with a Monovision Camera and Dual Low-cost 4D mmWave Radars __`ITSC`__ [[Paper](https://ieeexplore.ieee.org/document/9564904)]
* 2022 - Robust Target Recognition and Tracking of Self-Driving Cars With Radar and Camera Information Fusion Under Severe Weather Conditions __`TITS`__ [[Paper](https://ieeexplore.ieee.org/abstract/document/9363012)]
* 2022 - 3D Multiple Object Tracking with Multi-modal Fusion of Low-cost Sensors for Autonomous Driving __`ITSC`__ [[Paper](https://ieeexplore.ieee.org/document/9921854)]
* 2022 - Robust multiobject tracking using mmwave radar-camera sensor fusion __`IEEE Sensors Letters`__ [[Paper](https://ieeexplore.ieee.org/abstract/document/9916096)]
* 2023 - **CRN**: Camera Radar Net for Accurate, Robust, Efficient 3D Perception [__`nuScenes`__] __`ICCV`__ [[Paper](https://openaccess.thecvf.com/content/ICCV2023/html/Kim_CRN_Camera_Radar_Net_for_Accurate_Robust_Efficient_3D_Perception_ICCV_2023_paper.html)] [[Code](https://github.com/youngskkim/CRN)]
* 2023 - Online Multi-pedestrian Tracking based on Fused Detections of Millimeter Wave Radar and Vision __`IEEE Sensors Journal`__ [[Paper](https://ieeexplore.ieee.org/document/10075367)]
* 2023 - Asynchronous Information Fusion in Intelligent Driving Systems for Target Tracking Using Cameras and Radars __`TIE`__ [[Paper](https://ieeexplore.ieee.org/abstract/document/9765719)]
* 2024 - Deep Learning-Based Robust Multi-Object Tracking via Fusion of mmWave Radar and Camera Sensors __`TITS`__ [[Paper](https://ieeexplore.ieee.org/document/10592816)]
### Segmentation
* 2024 - **BEVCar**: Camera-Radar Fusion for BEV Map and Object Segmentation [__`nuScenes`__] __`CVPR`__ [[Paper](https://arxiv.org/abs/2403.11761)] [[Website](http://bevcar.cs.uni-freiburg.de/)] [[Code](https://github.com/robot-learning-freiburg/BEVCar)]
### Depth Estimation
* 2023 - Depth Estimation From Camera Image and mmWave Radar Point Cloud [__`nuScenes`__] __`CVPR`__ [[Paper](https://openaccess.thecvf.com/content/CVPR2023/html/Singh_Depth_Estimation_From_Camera_Image_and_mmWave_Radar_Point_Cloud_CVPR_2023_paper.html)] [[Code](https://github.com/nesl/radar-camera-fusion-depth)]
### Odometry
* 2023 - **4DRVO-Net**: Deep 4D Radar–Visual Odometry Using Multi-Modal and Multi-Scale Adaptive Fusion [__`VoD`__] __`TIV`__ [[Paper](https://ieeexplore.ieee.org/document/10313030)]
### Multi-Task
* 2023 - **Achelous**: A Fast Unified Water-surface Panoptic Perception Framework based on Fusion of Monocular Camera and 4D mmWave Radar [__`WaterScenes`__] __`ITSC`__ [[Paper](https://arxiv.org/abs/2307.07102)] [[GitHub](https://github.com/GuanRunwei/Achelous)]
* 2023 - **Mask-VRDet**: Mask-VRDet: A robust riverway panoptic perception model based on dual graph fusion of vision and 4D mmWave radar[__`WaterScenes`__] __`RAS`__ [[Paper](https://www.sciencedirect.com/science/article/pii/S0921889023002117)] [[GitHub](https://github.com/GuanRunwei/Mask-VRDet-Official)]
* 2023 - **Efficient-VRNet**: An Exquisite Fusion Network for Riverway Panoptic Perception based on Asymmetric Fair Fusion of Vision and 4D mmWave Radar [__`WaterScenes`__] __`arXiv`__ [[Paper](https://arxiv.org/abs/2308.10287)] [[GitHub](https://github.com/GuanRunwei/Efficient-VRNet)]
* 2023 - **CRN**: Camera Radar Net for Accurate, Robust, Efficient 3D Perception [__`nuScenes`__] __`ICCV`__ [[Paper](https://openaccess.thecvf.com/content/ICCV2023/html/Kim_CRN_Camera_Radar_Net_for_Accurate_Robust_Efficient_3D_Perception_ICCV_2023_paper.html)] [[Code](https://github.com/youngskkim/CRN)]
## Radar-LiDAR
### Detection
* 2021 - Robust multimodal vehicle detection in foggy weather using complementary lidar and radar signals __`CVPR`__ [[Paper](https://ieeexplore.ieee.org/document/9578621)]
* 2022 - **RaLiBEV**: Radar and LiDAR BEV Fusion Learning for Anchor Box Free Object Detection System [[Paper](https://arxiv.org/abs/2211.06108)]
* 2022 - Modality-agnostic learning for radar-lidar fusion in vehicle detection __`CVPR`__ [[Paper](https://ieeexplore.ieee.org/document/9879704)]
* 2022 - [**ST-MVDNet**] Modality-Agnostic Learning for Radar-Lidar Fusion in Vehicle Detection [__`Oxford Radar Robotcar`__]__`CVPR`__ [[Paper](https://openaccess.thecvf.com/content/CVPR2022/html/Li_Modality-Agnostic_Learning_for_Radar-Lidar_Fusion_in_Vehicle_Detection_CVPR_2022_paper.html)]
* 2023 - **Bi-LRFusion**: Bi-Directional LiDAR-Radar Fusion for 3D Dynamic Object Detection __`CVPR`__ [[Paper](https://openaccess.thecvf.com/content/CVPR2023/html/Wang_Bi-LRFusion_Bi-Directional_LiDAR-Radar_Fusion_for_3D_Dynamic_Object_Detection_CVPR_2023_paper.html)]
* 2023 - Multi-Modal and Multi-Scale Fusion 3D Object Detection of 4D Radar and LiDAR for Autonomous Driving [__`Astyx`__] __`TVT`__ [[Paper](https://ieeexplore.ieee.org/abstract/document/9991894)]
* 2023 - **ST-MVDNet++**: Improve vehicle detection with lidar-radar geometrical augmentation via self-training __`ICASSP`__ [[Paper](https://ieeexplore.ieee.org/document/10096041/)]
* 2023 - **ACF-Net**: Asymmetric Cascade Fusion for 3D Detection With LiDAR Point Clouds and Images __`TIV`__ [[Paper](https://ieeexplore.ieee.org/abstract/document/10363115)]
## Camera-LiDAR
### Detection
* 2021 - Joint Multi-Object Detection and Tracking with Camera-LiDAR Fusion for Autonomous Driving __`IROS`__ [[Paper](https://ieeexplore.ieee.org/abstract/document/9636311)]
* 2023 - **RoboBEV**: Towards Robust Bird’s Eye View Perception under Corruptions [__`nuScenes`__] [[Paper](https://arxiv.org/abs/2304.06719) [Code](https://github.com/Daniel-xsy/RoboBEV)]
## Camera-LiDAR-Radar
### Detection
* 2023 - [**BEV-Guide**] BEV-Guided Multi-Modality Fusion for Driving Perception __`CVPR`__ [[Paper](https://openaccess.thecvf.com/content/CVPR2023/html/Man_BEV-Guided_Multi-Modality_Fusion_for_Driving_Perception_CVPR_2023_paper.html)]
* 2023 - **DeepFusion**: A Robust and Modular 3D Object Detector for Lidars, Cameras and Radars __`IROS`__ [[Paper](https://ieeexplore.ieee.org/abstract/document/9981778)]
## Citation
Please use the following citation when referencing
```
@article{yao2023radar,
author={Yao, Shanliang and Guan, Runwei and Huang, Xiaoyu and Li, Zhuoxiao and Sha, Xiangyu and Yue, Yong and Lim, Eng Gee and Seo, Hyungjoon and Man, Ka Lok and Zhu, Xiaohui and Yue, Yutao},
journal={IEEE Transactions on Intelligent Vehicles},
title={Radar-Camera Fusion for Object Detection and Semantic Segmentation in Autonomous Driving: A Comprehensive Review},
year={2024},
volume={9},
number={1},
pages={2094-2128},
doi={10.1109/TIV.2023.3307157}}
```