相关论文: A Point Cloud Enhancement Method for 4D mmWave Rad…

This paper develops efficient channel estimation techniques for millimeter-wave (mmWave) massive multiple-input multiple-output (MIMO) systems under practical hardware limitations, including an arbitrary array geometry and a hybrid hardware…

3D object detection in point cloud data remains a challenging task due to the sparsity and lack of global structure inherent in the input. In this work, we propose a novel Multi-Scale Attention (MSA) mechanism integrated into the 3DETR…

Millimeter Wave Radar is being adopted as a viable alternative to lidar and radar in adverse visually degraded conditions, such as the presence of fog and dust. However, this sensor modality suffers from severe sparsity and noise under…

Using 3D point clouds in odometry estimation in robotics often requires finding a set of correspondences between points in subsequent scans. While there are established methods for point clouds of sufficient quality, state-of-the-art still…

This paper investigates the impact of practical features of the emerging antenna array technology of Dynamic Metasurface Antennas (DMAs) when used for wideband sensing. By adopting a realistic DMA response model capturing frequency…

A 3D point cloud is often synthesized from depth measurements collected by sensors at different viewpoints. The acquired measurements are typically both coarse in precision and corrupted by noise. To improve quality, previous works denoise…

Ageing structures require periodic inspections to identify structural defects. Previous work has used geometric distortions to locate cracks in synthetic masonry bridge point clouds but has struggled to detect small cracks. To address this…

The increasing deployment of small drones as tools of conflict and disruption has amplified their threat, highlighting the urgent need for effective anti-drone measures. However, the compact size of most drones presents a significant…

Balancing cost and performance is crucial when choosing high- versus low-resolution point-cloud roadside sensors. For example, LiDAR delivers dense point cloud, while 4D millimeter-wave radar, though spatially sparser, embeds velocity cues…

The D-band offering an untapped wide bandwidth is promising for high data rate communication and high-resolution wireless sensing. However, these potentials are hindered by the low performance and energy efficiency of the D-band circuits…

Millimeter-wave radar provides perception robust to fog, smoke, dust, and low light, making it attractive for size, weight, and power constrained robotic platforms. Current radar imaging methods, however, rely on synthetic aperture or…

This paper explores an integrated approach for improved sensing and positioning with applications in air traffic management (ATM) and in the Advanced Surface Movement Guidance and Control System (A-SMGCS). The integrated approach includes…

Point cloud (PCD) anomaly detection steadily emerges as a promising research area. This study aims to improve PCD anomaly detection performance by combining handcrafted PCD descriptions with powerful pre-trained 2D neural networks. To this…

4D millimeter-wave (MMW) radar, which provides both height information and dense point cloud data over 3D MMW radar, has become increasingly popular in 3D object detection. In recent years, radar-vision fusion models have demonstrated…

In radar systems, high resolution in the Doppler dimension is important for detecting slow-moving targets as it allows for more distinct separation between these targets and clutter, or stationary objects. However, achieving sufficient…

It is counter-intuitive that multi-modality methods based on point cloud and images perform only marginally better or sometimes worse than approaches that solely use point cloud. This paper investigates the reason behind this phenomenon.…

In this paper we present our research on the optimisation of a deep neural network for 3D object detection in a point cloud. Techniques like quantisation and pruning available in the Brevitas and PyTorch tools were used. We performed the…

For 3D object detection, labeling lidar point cloud is difficult, so data augmentation is an important module to make full use of precious annotated data. As a widely used data augmentation method, GT-sample effectively improves detection…

A new approach is proposed, namely CSSF MIMO radar, which applies the technique of step frequency (SF) to compressive sensing (CS) based multi-input multi-output (MIMO) radar. The proposed approach enables high resolution range, angle and…

Multi-target detection is one of the primary tasks in radar-based localization and sensing, typically built on phased array antennas. However, the bulky hardware in the phased array restricts its potential for enhancing detection accuracy,…