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arXiv 提交日期: 2026-06-17
📄 Abstract - Spatially Stratified Distillation for Heterogeneous Radar Place Recognition

Scalable, all-weather place recognition increasingly relies on heterogeneous radar place recognition to bridge diverse hardware platforms. A notable application is matching queries from cost-effective 4D automotive radars against high-fidelity reference maps built by dense spinning radars. This process is fundamentally limited by the extreme sparsity (and narrow field-of-view) of the 4D sensor, which captures only a fraction of the structural density present in the spinning radar database. Prior efforts address this issue by unifying different radar signals. That is, projecting both signals into a common representational space. Yet, they suffer performance degradation in multi-session environments. In this paper, we propose spatially-stratified distillation (SSD); a strategy that replaces standard uniform distillation with an asymmetric spatial alignment derived directly from physical radar returns. In regions where both radars exhibit overlapping returns, SSD enforces strong feature alignment. Crucially, in sparse regions where the 4D student lacks returns but the teacher contains valid structure within the shared field of view, SSD applies heavily discounted distillation weights. Extensive evaluations of the recent HeRCULES dataset demonstrate that SSD significantly outperforms prior place recognition methods, achieving state-of-the-art results on its challenging dynamic sequences.

顶级标签: computer vision robotics
详细标签: place recognition radar knowledge distillation heterogeneous sensors spatial alignment 或 搜索:

空间分层蒸馏:异构雷达地点识别的新方法 / Spatially Stratified Distillation for Heterogeneous Radar Place Recognition


1️⃣ 一句话总结

本文提出了一种名为空间分层蒸馏(SSD)的新策略,通过根据雷达回波的物理空间分布动态调整蒸馏强度,有效解决了低成本的4D汽车雷达与高精度旋转雷达之间因数据稀疏性差异导致的地点识别性能下降问题,在动态场景下取得了最先进成果。

源自 arXiv: 2606.18687