Preprint Open access
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 …