In four-dimensional (4D) Radar-based point cloud generation, clutter removal is commonly performed using the constant false alarm rate (CFAR) algorithm. However, CFAR may not fully capture the spatial characteristics of objects. To address limitation, this paper proposes the 4D Radar Point-to-Tensor (4DR P2T) model, which generates tensor data suitable for deep learning applications while minimizing measurement loss. Our method employs a conditional generative adversarial network (cGAN), modified to effectively process 4D Radar point cloud data and generate tensor data. Experimental results on the K-Radar dataset validate the effectiveness of the 4DR P2T model, achieving an average PSNR of 30.39dB and SSIM of 0.96. Additionally, our analysis of different point cloud generation methods highlights that the 5% percentile method provides the best overall performance, while the 1% percentile method optimally balances data volume reduction and performance, making it well-suited for deep learning applications.
@article{arxiv.2502.05550,
title = {4DR P2T: 4D Radar Tensor Synthesis with Point Clouds},
author = {Woo-Jin Jung and Dong-Hee Paek and Seung-Hyun Kong},
journal= {arXiv preprint arXiv:2502.05550},
year = {2025}
}