# Enhanced 3D Object Detection via Diverse Feature Representations of 4D Radar Tensor Source: [Enhanced 3D Object Detection via Diverse Feature Representations of 4D Radar Tensor]() Collection index: [llms.txt]() Data updated: 2025-10-27T06:52:53.434Z Authors: Seung-Hyun Song, Dong-Hee Paek, Minh-Quan Dao, Ezio Malis, Seung-Hyun Kong Published: 2025-02-10T02:48:56.000Z ## Abstract Recent advances in automotive four-dimensional (4D) Radar have enabled access to raw 4D Radar Tensor (4DRT), offering richer spatial and Doppler information than conventional point clouds. While most existing methods rely on heavily pre-processed, sparse Radar data, recent attempts to leverage raw 4DRT face high computational costs and limited scalability. To address these limitations, we propose a novel three-dimensional (3D) object detection framework that maximizes the utility of 4DRT while preserving efficiency. Our method introduces a multi-teacher knowledge distillation (KD), where multiple teacher models are trained on point clouds derived from diverse 4DRT pre-processing techniques, each capturing complementary signal characteristics. These teacher representations are fused via a dedicated aggregation module and distilled into a lightweight student model that operates solely on a sparse Radar input. Experimental results on the K-Radar dataset demonstrate that our framework achieves improvements of 7.3% in AP\_3D and 9.5% in AP\_BEV over the baseline RTNH model when using extremely sparse inputs. Furthermore, it attains comparable performance to denser-input baselines while significantly reducing the input data size by about 90 times, confirming the scalability and efficiency of our approach. ## Recorded benchmark results A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. ## Original sources and implementation [Original paper]() [PDF]()