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ITS Res."],"published-print":{"date-parts":[[2026,4]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>3D object detection is a crucial technology for enabling automated driving. Methods with LiDAR employing Bird\u2019s-Eye View (BEV) representations of point cloud in a Cartesian coordinate system have become mainstream. This technology requires recognizing objects at long distances, exceeding 100\u00a0m. In autonomous driving scenarios, such as when monitoring oncoming lanes for a lane change across opposing traffic, long-range perception is essential. However, methods using BEV representations of point cloud face a significant challenge: the computational resources required increase enormously when attempting to recognize objects at long distances. To address this, we propose a novel approach that combines Cartesian and polar coordinate systems. This method efficiently enables perception of objects up to approximately 140\u00a0m away, all while maintaining high detection accuracy for small objects at short-range. Furthermore, with real-time operation in mind, we focused on accelerating our method and achieved an inference time of 83.30 ms per frame.<\/jats:p>","DOI":"10.1007\/s13177-025-00598-2","type":"journal-article","created":{"date-parts":[[2025,12,26]],"date-time":"2025-12-26T16:49:20Z","timestamp":1766767760000},"page":"74-84","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Real-Time 3D Object Detection with Distance-Aware Hybrid Point Cloud Representation toward Long Range Detection"],"prefix":"10.1007","volume":"24","author":[{"given":"Keigo","family":"Hariya","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hiroki","family":"Inoshita","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yukiya","family":"Fukuda","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Keisuke","family":"Yoneda","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Naoki","family":"Suganuma","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2025,12,26]]},"reference":[{"key":"598_CR1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2023.122836","volume":"242","author":"J Zhao","year":"2024","unstructured":"Zhao, J., et al.: Autonomous driving system: A comprehensive survey. 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