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Fifty Years of SAR Automatic Target Recognition: The Road Forward (2025)

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😍 Fifty Years of SAR ATR: The Road Forward

Jie Zhou, Yongxiang Liu, Li Liu, Weijie Li, Bowen Peng, Yafei Song, Gangyao Kuang, Xiang Li*

History of SAR ATR_01

This paper provides the first comprehensive review of fifty years of synthetic aperture radar automatic target recognition (SAR ATR) development, tracing its evolution from inception to the present day.

tree 20250923_01

An evolutionary tree of SAR ATR technology from the 1990s to present, organized into four primary branches based on target types: ships, vehicles, aircraft, and other targets. Branch nodes represent landmark methodologies, connecting lines indicate technological inheritance and innovation, while cross-branch linkages signal the emergence of generalizable models.

For more details, kindly refer to our paper.

📚 Citation

If you find this work helpful for your research, please kindly consider citing our paper:

@article{zhou2025fiftyyearssarautomatic,
      title={Fifty Years of SAR Automatic Target Recognition: The Road Forward},
      author={Zhou, jie and Liu, Yongxiang and Liu, Li and Li, Weijie and Peng, Bowen and Song, Yafei and Kuang, Gangyao and Li, Xiang},
      journal={arXiv preprint arXiv:2509.22159},
      year={2025},
      url={https://arxiv.org/abs/2509.22159}, 
}

🛖 A collection of papers, datasets, benchmarks, code, and pre-trained weights for SAR ATR

  • (09/2025) repo is released.
  • The updates are currently done Bi-MONTHLY, adding interesting and classic articles, datasets, etc.. We will keep records of the update dates and content, and everyone is also welcome to join in.
  • Please light up the STAR⭐⭐⭐⭐⭐ to encourage more opensource on SAR image interpretations!🥰

Table of Contents

Summary of Surveys in SAR ATR

Year Venue Topic Scope Survey title
1996 SPIE vehicle features Tradition MSTAR Extended Operating Conditions A Tutorial
2004 - ship detection Tradition The state-of-the-art in ship detection in synthetic aperture radar imagery
2008 Signal Processing detection Tradition Study on target detection in SAR image: A survey
2009 Signal Processing discrimination Tradition Study on Target Discrimination in SAR lmages:A Survey
2013 JARS CFAR detection Tradition Target detection in synthetic aperture radar imagery: A state-of-the-art survey
2016 IEEE Access holistic SAR ATRsystemperspective Tradition Automatic Target Recognition in Synthetic Aperture Radar Imagery: A state-of-the-art review
2018 IEEE GRSM vehicle classification Tradition A review of the autoencoder and its variants: A comparative perspective from target recognition in synthetic-aperture radar images
2020 Journal of Radars detection Tradition+Deep learning Survey of Research Progress on Target Detection and Discrimination of Single-channel SAR Images for Complex Scenes
2021 AESM classificaition on MSTAR Tradition+Deep learning Automatic target recognition on synthetic aperture radar imagery: A survey
2022 RS ship detection Tradition+Deep learning Deep Learning for SAR Ship Detection Past, Present and Future
2023 Soft Computer ship detection Deep learning Ship Detection Based on Deep Learning Using SAR Imagery: A Systematic Literature Review
2023 Journal of Radars aircraft detection and classification Deep learning Intelligent Technology for Aircraft Detection and Recognition through SAR Imagery: Advancements and Prospects
2023 RS detection and classification Deep learning A Comprehensive Survey on SAR ATR in Deep-Learning Era
2024 IEEE Jstar ship detection Tradition+Deep learning Ship detection with SAR C-Band satellite images: A systematic review
2025 IEEE Jstar detection and classification Deep learning Recent Advances in Deep Learning based SAR Image Targets Detection and Recognition
2025 IEEE Jstar dual perspective for detection and classification Tradition+Deep learning Review of synthetic aperture radar automatic target recognition: A dual perspective on classical and deep learning techniques
2025 Ours fifty evolution
of SAR ATR
Tradition+Deep learning Fifty Years of SAR Automatic Target Recognition The Road Forward

SAR Target Datasets

1️⃣ SAR Traget Classification Datasets

Year Publication Datasets Title Download
1995 MSTAR MSTAR
2010 SPIE CV Domes Civilian vehicle radar data domes CV Domes
2012 SPIE Gotcha Wide angle SAR data for target discrimination research Gotcha
2017 IEEE GRSL SARSIM Improving SAR Automatic Target Recognition Models With Transfer Learning From Simulated Data SARSIM
2018 IEEE Jstars OpenSARShip Open-SARShip: A Dataset Dedicated to Sentinel-1 Ship Interpretation OpenSARShip
2019 SPIE SAMPLE A SAR dataset for ATR development: the Synthetic and Measured Paired Labeled Experiment (SAMPLE) SAMPLE
2020 SCIS FUSAR-Ship FUSAR-Ship: Building a high-resolution SAR-AIS matchup dataset of Gaofen-3 for ship detection and recognition FUSAR-Ship
2022 J. of Radars MATD Multiangle SAR dataset construction of aircraft targets based on angle interpolation simulation MATD
2022 IEEE TGRS SAR-ACD SCAN: Scattering Characteristics Analysis Network for Few-Shot Aircraft Classification in High-Resolution SAR Images SAR-ACD
2025 arXiv ATRNet-STAR ATRNet-STAR: A Large Dataset and Benchmark Towards Remote Sensing Object Recognition in the Wild ATRNet-STAR

2️⃣ SAR Target Detection Datasets

Year Publication Datasets Title Download
2005 miniSAR miniSAR
2015 FARADSAR FARADSAR
2017 BIGSARDATA SSDD Ship detection in SAR images based on an improved Faster R-CNN SSDD
2019 J. of Radars AIR-SARSHIP1.0 AIR-SARShip-1.0: High-resolution SAR ship detection dataset AIR-SARSHIP1.0
2020 AIR-SARSHIP2.0 Paper AIR-SARSHIP2.0
2019 RS SAR-SHIP-DATASET A SAR dataset of ship detection for deep learning under complex backgrounds SAR-SHIP-DATASET
2020 RS LS-SSDD-v1.0 LS-SSDD-v1. 0: A deep learning dataset dedicated to small ship detection from large-scale Sentinel-1 SAR images LS-SSDD-v1.0
2020 IEEE Access HRSID HRSID: A high-resolution SAR images dataset for ship detection and instance segmentation HRSID
2021 RS SRSDD-v1.0 SRSDD-v1. 0: A high-resolution SAR rotation ship detection dataset SRSDD-v1.0
2021 RS Official SSDD SAR ship detection dataset (SSDD): Official release and comprehensive data analysis Official SSDD
2021 Sensors DSSDD A dual-polarimetric SAR ship detection dataset and a memory-augmented autoencoder-based detection method DSSDD
2022 J. of Radars RSDD-SAR RSDD-SAR: Rotated ship detection dataset in SAR images RSDD-SAR
2022 IEEE Jstars SADD SEFEPNet: Scale expansion and feature enhancement pyramid network for SAR aircraft detection with small sample dataset SADD
2022 RS MSAR CRTransSar: A visual transformer based on contextual joint representation learning for SAR ship detection MSAR
2023 J. of Radars SAR-AIRcraft1.0 SAR-AIRcraft-1.0: High-resolution SAR aircraft detection and recognition dataset SAR-AIRcraft1.0
2023 RS SIVED SIVED: A SAR image dataset for vehicle detection based on rotatable bounding box SIVED
2023 IEEE TGRS OGSOD Category-oriented localization distillation for sar object detection and a unified benchmark OGSOD
2024 NeurIPS SARDet-100k SARDet-100K: Towards Open-Source Benchmark and ToolKit for Large-Scale SAR Object Detection SARDet-100k
2024 IEEE TGRS FAIR-CSAR FAIR-CSAR: A Benchmark Dataset for Fine-grained Object Detection and Recognition based on Single Look Complex SAR Images FAIR-CSAR
2025 CVPR RSAR RSAR: Restricted state angle resolver and rotated sar benchmark RSAR
2025 TGRS MSOD MSOD: A Large-Scale Multiscene Dataset and a Novel Diagonal-Geometry Loss for SAR Object Detection MSOD

SAR Target Classification

1️⃣ Traditional Methods for SAR Target Classification

Year Publication Methods Title
1983 IEEE TPAMI Markov Random Field Texture Models
1986 IEEE TGRS Textural information in SAR images
1996 SPIE MSTAR-EOC MSTAR extended operating conditions: A tutorial
1997 IEEE TIP Attributed scattering centers for SAR ATR
1998 IEEE TGRS GLCM4Ice Textural analysis and real-time classification of sea-ice types using digital SAR data
1999 IEEE TGRS Texture analysis of SAR sea ice imagery using gray level co-occurrence matrices
2002 IEEE TAES SVM Support vector machines for SAR automatic target recognition
2002 IEEE TAES Cond Gauss SAR ATR performance using a conditionally Gaussian model
2004 IEEE TGRS Comparing cooccurrence probabilities and Markov random fields for texture analysis of SAR sea ice imagery
2006 SP Airplanes identification based on estimation of scattering centers
2007 IEEE TAES Adaptive boosting for SAR automatic target recognition
2007 IEEE TPAMI Application of the Deflection Criterion to Classification of Radar SAR Images
2011 IEEE TGRS GSC Automatic target recognition of SAR images based on global scattering center model
2012 IEEE TAES Classification via the shadow region in SAR imagery
2012 IEEE GRSL New discrimination features for SAR automatic target recognition
2012 IEEE TGRS Operational SAR sea-ice image classification
2014 IEEE GRSL SPV descriptor Backscattering feature analysis and recognition of civilian aircraft in TerraSAR-X images
2014 IEEE TGRS SAR-SIFT SAR-SIFT: a SIFT-like algorithm for SAR images
2014 IEEE TAES NCCSE-ATR Neighborhood geometric center scaling embedding for SAR ATR
2014 IEEE TAES IGT SAR automatic target recognition using discriminative graphical models
2014 IEEE SPL MSRC Sparse representation of monogenic signal: With application to target recognition in SAR images
2015 IEEE TIP MSS Classification on the monogenic scale space: Application to target recognition in SAR image
2016 RS SSDL SAR target recognition via supervised discriminative dictionary learning and sparse representation of the SAR-HOG feature

2️⃣ Deep Learning Methods for SAR Target Classification

Year Publication Methods Title code
2016 IEEE TGRS A-ConvNets Target classification using the deep convolutional networks for SAR images A-ConvNets
2017 IEEE TGRS CV-CNN Complex-valued convolutional neural network and its application in polarimetric SAR image classification CV-CNN
2017 IEEE TGRS VDCNN SAR automatic target recognition based on multiview deep learning framework
2019 IEEE GRSL CV-FCNN Complex-valued full convolutional neural network for SAR target classification
2020 IEEE TGRS FEC FEC: A feature fusion framework for SAR target recognition based on electromagnetic scattering features and deep CNN features
2021 IEEE TGRS HOG-ShipCLSNet HOG-ShipCLSNet: A novel deep learning network with hog feature fusion for SAR ship classification
2021 IEEE TGRS CA-MCNN Multiscale CNN based on component analysis for SAR ATR
2022 ISPRS JPRS PIHA Physically explainable CNN for SAR image classification PIHA
2022 IEEE TGRS MSCVNets SAR automatic target recognition method based on multi-stream complex-valued networks MSCVNets
2022 IEEE TGRS SDFNet Multilevel scattering center and deep feature fusion learning framework for SAR target recognition
2023 IEEE TGRS VSFA VSFA: Visual and scattering topological feature fusion and alignment network for unsupervised domain adaptation in SAR target recognition
2023 IEEE TGRS PAN PAN: Part Attention Network Integrating Electromagnetic Characteristics for Interpretable SAR Vehicle Target Recognition
2023 IEEE Jstars HDANet Hierarchical disentanglement-alignment network for robust SAR vehicle recognition HDANet
2024 ISPRS JPRS SAR-JEPA Predicting gradient is better: Exploring self-supervised learning for SAR ATR with a joint-embedding predictive architecture SAR-JEPA
2024 IEEE TCSVT MIGA-Net MIGA-Net: Multi-View Image Information Learning Based on Graph Attention Network for SAR Target Recognition
2024 ISPRS JPRS MJT-Net Recognition for SAR deformation military target from a new MiniSAR dataset using multi-view joint transformer approach MJT-Net
2024 IEEE TGRS MoFFL Multimodal Discriminative Feature Learning for SAR ATR: A Fusion Framework of Phase History, Scattering Topology, and Image
2024 IEEE TGRS EMI-Net EMI-Net: an end-to-end mechanism-driven interpretable network for SAR target recognition under EOCs
2024 IEEE TAES CV-SAR-Det CV-SAR-det: Target detection for SAR images via deep complex-valued network
2025 IEEE Jstars LDSF Lightweight Dual-Stream SAR–ATR Framework Based on an Attention Mechanism-Guided Heterogeneous Graph Network
2025 IEEE TAES MTSGL MTSGL: Multi-Task Structure Guided Learning for Robust and Interpretable Aircraft Recognition in SAR Images
2025 IEEE TGRS ASC-U2Det Attributed Scattering Center Guided Network Based on Omnidirectional Subaperture Division for SAR Target Detection
2025 IEEE Jstars FDC-TA-DSN FDCTA-DSN ship classification model and dataset construction based on complex-valued SAR
2025 IEEE TGRS EMWaveNet EMWaveNet: Physically Explainable Neural Network Based on Electromagnetic Wave Propagation for SAR Target Recognition
2025 IEEE Jstars CRMC-Net A Multiscale Convolution SAR Image Target Recognition Method Based on Complex-Valued Neural Networks
2025 IEEE Jstars DAF-Net DAFNet: Dual-Aperture Feature Fusion Network for Aircraft Detection on Complex-Valued SAR Image
2025 ISPRS JPRS MMFF MMFF: Multiview and multi-level feature fusion method within limited sample conditions for SAR image target recognition

SAR Target Detection

1️⃣ Traditional Methods for SAR Target Detection

Year Publication Methods Title
1966 IEEE SAP Adaptive detection in clutter
1968 Rca Review Adaptive detection mode with threshold control as a function of spatially sampled clutter-level estimates
1978 IEEE TAES SO-CFAR Range resolution of targets using automatic detectors
1980 IEEE TAES GO-CFAR Detectability loss due to greatest of selection in a cell-averaging CFAR
1988 IEEE TGRS Ratio-CFAR A statistical and geometrical edge detector for SAR images
1994 ICIP K-CFAR Non-Gaussian CFAR techniques for target detection in high resolution SAR images
2000 IEEE TPAMI Fusion of intelligent agents for the detection of aircraft in SAR images
2002 IEEE TAES TM-CFAR Analysis of CFAR processors in nonhomogeneous background
2002 IEEE TAES VI-CFAR Intelligent CFAR processor based on data variability
2004 IEEE TGRS On the use of complex SAR image spectral analysis for target detection: Assessment of polarimetry
2004 IEEE GRSL Ship detection based on coherence images derived from cross correlation of multilook SAR images
2005 IEEE TGRS BLUE-CFAR CFAR detection of extended objects in high-resolution SAR images
2005 IEEE GRSL A novel algorithm for ship detection in SAR imagery based on the wavelet transform
2006 IEEE TGRS Partially supervised oil-slick detection by SAR imagery using kernel expansion
2007 IEEE TAES Analysis of some modified cell-averaging CFAR processors in multiple-target situations
2007 IEEE TAES OS-CFAR Radar CFAR thresholding in clutter and multiple target situations
2012 IEEE GRSL GΓD-CFAR A CFAR detection algorithm for generalized gamma distributed background in high-resolution SAR images
2015 IEEE TGRS TS-CFAR Robust CFAR detector based on truncated statistics in multiple-target situations
2015 IEEE GRSL Bi-CFAR A bilateral CFAR algorithm for ship detection in SAR images
2017 IEEE Jstars An improved superpixel-level CFAR detection method for ship targets in high-resolution SAR images
2017 IEEE TGRS Target detection via Bayesianmorphological saliency in high-resolution SAR images
2021 IEEE TAES Robust CFAR ship detector based on bilateral-trimmed-statistics of complex ocean scenes in SAR imagery: A closed-form solution
2025 IEEE Jstars Wilcoxon Wilcoxon Nonparametric CFAR Scheme for Ship Detection in SAR Image

2️⃣ Deep Learning Methods for SAR Target Detection

Year Publication Methods Title Code
2017 BIGSARDATA Improved FRCNN Ship detection in SAR images based on an improved Faster R-CNN
2018 IEEE GRSL SER faster RCNN Squeeze and excitation rank faster R-CNN for ship detection in SAR images
2018 IEEE GRSL SAR target detection based on SSD with data augmentation and transfer learning
2019 RS YOLOv2-reduced Ship detection based on YOLOv2 for SAR imagery
2019 IEEE TGRS DRBoxv2 DRBox-v2: An improved detector with rotatable boxes for target detection in SAR images DRBoxv2
2019 VTC DL-CFAR DL-CFAR: A novel CFAR target detection method based on deep learning
2020 IEEE Jstars ARPN Attention receptive pyramid network for ship detection in SAR images
2020 IEEE TGRS SSE-ATD Ship detection in largescale SAR images via spatial shuffle-group enhance attention
2020 IEEE TGRS FBR-Net An anchor-free method based on feature balancing and refinement network for multiscale ship detection in SAR images
2021 IEEE Jstars CP-FCOS An anchor-free detection method for ship targets in high-resolution SAR images
2021 PR Centernet++ A CenterNet++ model for ship detection in SAR images
2022 IEEE Jstars SEFEPNet SEFEPNet: Scale expansion and feature enhancement pyramid network for SAR aircraft detection with small sample dataset SEFEPNet
2022 IEEE TGRS MGCCAN Geospatial transformer is what you need for aircraft detection in SAR imagery
2023 IEEE TGRS HRLE-SARDet HRLE-SARDet: A lightweight SAR target detection algorithm based on hybrid representation learning enhancement
2023 IEEE TGRS AFFDet An anchor-free and angle-free detector for oriented object detection using bounding box projection
2023 J. of Radars SA-Net SARAIRcraft-1.0: High-resolution SAR aircraft detection and recognition dataset
2023 IEEE Jstars PVT An anchor-free method based on transformers and adaptive features for arbitrarily oriented ship detection in SAR images
2023 IEEE TGRS Integrated detection and imaging algorithm for radar sparse targets via CFAR-ADMM
2024 IEEE TGRS Fast-ShipDet A fast progressive ship detection method for very large full-scene SAR images
2024 IEEE GRSL DiffDet4SAR DiffDet4SAR: Diffusion-based aircraft target detection network for SAR images DiffDet4SAR
2024 IEEE TGRS DAFDet DAFDet: A Unified Dynamic SAR Target Detection Architecture With Asymptotic Fusion Enhancement and Feature Encoding Decoupling
2024 IEEE TAES DenoDet DenoDet: Attention as deformable multi-subspace feature denoising for target detection in sar images
2024 IEEE TGRS SRT-NET SRTNet: Scattering region topology network for oriented ship detection in large-scale SAR images
2024 IEEE TGRS MD-DETR Multi-level Denoising for High Quality SAR Object Detection in Complex Scenes
2024 IEEE TGRS DET-Net Adaptive SAR images enhancement for aircraft detection via speckle suppression and channel combination DET-Net
2024 IEEE TGRS RDB-DINO RDB-DINO: An improved end-to-end transformer with refined de-noising and boxes for small-scale ship detection in SAR images
2024 CVPR SFS-CNet Unleashing channel potential: space-frequency selection convolution for SAR object detection SFS-CNet
2024 IEEE TAES ShipDetector A Lightweight SAR Ship Detector Based on Whole Process Collaborative Designing
2024 NeurIPS MSFA SARDet-100K: Towards Open-Source Benchmark and ToolKit for Large-Scale SAR Object Detection
2024 IEEE TGRS 3SD-Net 3SD-Net: SAR small ship detection neural network MSFA
2024 SP CFARnet CFARnet: Deep learning for target detection with constant false alarm rate
2024 IEEE Jstars CFAR-DP-FW CFAR-DP-FW: A CFAR-guided dual-polarization fusion framework for large-scene SAR ship detection
2024 IEEE TGRS RC-GΓD A novel CFAR-based ship detection method using range-compressed data for spaceborne SAR system
2025 IEEE TCSVT MaDiNet MaDiNet: Mamba Diffusion Network for SAR Target Detection MaDiNet
2025 IEEE Jstars PFARN PFARN: pyramid fusion attention and refinement network for multiscale ship detection in SAR images
2025 IEEE TGRS STC-Net STC-Net: Scattering Topology Cue-based Network for Aircraft Detection in SAR Images
2025 IEEE TCSVT PGD-YOLOv8 Physics-guided detector for SAR airplanes PGD
2025 IEEE TGRS SARDet-CL SARDet-CL: Self-Supervised Contrastive Learning with Feature Enhancement and Imaging Mechanism Constraints for SAR Target Detection
2025 IEEE Jstars Detecting Arctic Icebergs in Sea Ice in L-Band SAR Images Using a Multiscale CFAR Algorithm

Recent Advances

1️⃣ SAR Foundation Models

Year Publication Methods Title Code
2023 IET SARViT SARViT: vision transformer for SAR image interpretation with efficient model compression for time-real processing
2025 IEEE TIP SARATR-X SARATR-X: Toward Building a Foundation Model for SAR Target Recognition SARATR-X
2025 arXiv A Complex-valued SAR Foundation Model Based on Physically Inspired Representation Learning
2025 JAG SUMMIT SUMMIT: A SAR foundation model with multiple auxiliary tasks enhanced intrinsic characteristics SUMMIT
2025 Nat. Mach. Intell SkySense++ A semantic-enhanced multi-modal remote sensing foundation model for Earth observation SkySense++
2025 arxiv AFRL-DINOv2- On the Status of Foundation Models for SAR Imagery -

2️⃣ Limited Data

Year Publication Methods Title Code
2023 IEEE TGRS Mada-SGD Few-shot SAR target recognition through meta-adaptive hyperparameters learning for fast adaptation Mada-SGD
2023 IEEE TGRS DCBES Density coverage-based exemplar selection for incremental SAR automatic target recognition
2024 IEEE TGRS MBEN-BC A multi-branch embedding network with Bi-classifier for few-shot ship classification of SAR images
2025 IEEE TAES SAR-INR Implicit neural representation with imaging geometry for sar target recognition
2023 IEEE TGRS HEIEN Few-shot classincremental SAR target recognition based on hierarchical embedding and incremental evolutionary network
2025 IEEE TGRS ACRM Target-aspect domain continual learning for sar target recognition
2024 IEEE TAES ODF Few-shot class-incremental SAR target recognition via orthogonal distributed features
2025 IEEE TAES Class-incremental SAR ship detection and classification via context-robust exemplar replay and multigranularity knowledge distillation
2025 IEEE TAES Reciprocal point learning network with large electromagnetic kernel for SAR open-set recognition
2025 IEEE Jstars A Comprehensive Framework for Out-of-Distribution Detection and OpenSet Recognition in SAR Targets
2025 IEEE Jstars GLGE Combining Local Electromagnetic Scattering and Global Structure Features for SAR Open Set Recognition
2024 IEEE Jstars OSAD OSAD: Open-set aircraft detection in SAR images
2024 ISPRS JPRS EBRS Entropy-Based re-sampling method on SAR class imbalance target detection EBRS
2024 IEEE TGRS SAR ship detection based on explainable evidence learning under intraclass imbalance
2025 PR SCDQ Supervised contrastive deep Q-Network for imbalanced radar automatic target recognition

3️⃣ Domain Adaption

Year Publication Methods Title Code
2023 IEEE TGRS IDA An imbalanced discriminant alignment approach for domain adaptive SAR ship detection IDA
2023 ISPRS JPRS Cross-scene target detection based on feature adaptation and uncertainty-aware pseudo-label learning for high resolution SAR images
2023 IEEE TGRS MMAN A cross-modality feature transfer method for target detection in SAR images
2024 IEEE TGRS PITM Domain adaptive oriented object detection from optical to SAR images PITM
2024 IEEE TGRS OptiSAR-Net OptiSAR-Net: A Cross-Domain Ship Detection Method for Multi-Source Remote Sensing Data OptiSAR-Net
2025 IEEE TGRS MFJA MFJA: Unsupervised Domain Adaptation Based on Multi-Modal Feature Fusion and Global-Local Joint Alignment for SAR ATR
2025 IEEE TGRS Cross-sensor SAR image target detection based on dynamic feature discrimination and center-aware calibration
2025 ISPRS JPRS SAFA-MAO Simulation-aided similarity-aware feature alignment with meta-adaption optimization for SAR ATR under extended operation conditions SAFA-MAO
2025 IEEE Jstars CDFS-SAR Learning From Natural Images in FewShot SAR Target Classification

🎈Acknowledgements

Thanks to Lily and Ziyang Lin, and Pinyi Huang, for inspiring me to create this repo and helping refine it, respectively.


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