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4D Radar Perception Algorithms for Autonomous Driving: A Review

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Research on 4D millimeter-wave radar perception algorithms has flourished in recent years, extending from signal processing and object detection to semantic segmentation, motion estimation, occupancy prediction, and dynamic scene reconstruction. This review organizes the field according to the evolution of perception tasks and algorithms. It first introduces radar fundamentals, data representations, and quality-enhancement methods, and then reviews object-level perception, motion and localization, local and dense spatial perception, and dynamic scene understanding. Across these directions, we

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