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Relay-aided device-to-device (D2D) communication is a promising technology for the next-generation cellular network. We study the transmission schemes for an amplify-and-forward relay-aided D2D system which has multiple antennas. To circumvent the prohibitive complexity problem of traditional maximum likelihood (ML) detection for full-rate space-time block code (FSTBC) transmission, two low-complexity detection methods are proposed, i.e., the detection methods with the ML-combining (MLC) algorithm and the joint conditional ML (JCML) detector. Particularly, the method with the JCML detector reduces detection delay at the cost of more storage and performs well with parallel implementation. Simulation results indicate that the proposed detection methods achieve a symbol error probability similar to that of the traditional ML detector for FSTBC transmission but with less complexity, and the performance of FSTBC transmission is significantly better than that of spatial multiplexing transmission. Diversity analysis for the proposed detection methods is also demonstrated by simulations.