RadCloud: Real-Time High-Resolution Point Cloud Generation Using Low-Cost mmWave Radars for Aerial and Ground Vehicles
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Hunt, D; Luo, S; Khazraei, A; Zhang, X; Hallyburton, S; Chen, T; Pajic, M
Published in: ACM Mobicom 2024 Proceedings of the 30th International Conference on Mobile Computing and Networking
December 4, 2024
We demonstrate RadCloud, a real-time framework for obtaining high-resolution lidar-like 2D point clouds from low-resolution millimeter-wave (mmWave) radar data on resource-constrained platforms commonly found on unmanned aerial and ground vehicles (UAVs and UGVs). Such point clouds can then be used for mapping key features of the environment, route planning and navigation, and other robotics tasks. Rad-Cloud is specifically optimized for UAVs and UGVs by using a radar configuration with 1/4th the range resolution, using a model with 2.25× fewer parameters, and reducing total sensing time by a factor of 250×. The real-time ROS framework will be demonstrated on a UGV and UAV equipped with CPU-only compute platforms in diverse environments.
Duke Scholars
Published In
ACM Mobicom 2024 Proceedings of the 30th International Conference on Mobile Computing and Networking
DOI
Publication Date
December 4, 2024
Start / End Page
1754 / 1756
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Hunt, D., Luo, S., Khazraei, A., Zhang, X., Hallyburton, S., Chen, T., & Pajic, M. (2024). RadCloud: Real-Time High-Resolution Point Cloud Generation Using Low-Cost mmWave Radars for Aerial and Ground Vehicles. In ACM Mobicom 2024 Proceedings of the 30th International Conference on Mobile Computing and Networking (pp. 1754–1756). https://doi.org/10.1145/3636534.3698849
Hunt, D., S. Luo, A. Khazraei, X. Zhang, S. Hallyburton, T. Chen, and M. Pajic. “RadCloud: Real-Time High-Resolution Point Cloud Generation Using Low-Cost mmWave Radars for Aerial and Ground Vehicles.” In ACM Mobicom 2024 Proceedings of the 30th International Conference on Mobile Computing and Networking, 1754–56, 2024. https://doi.org/10.1145/3636534.3698849.
Hunt D, Luo S, Khazraei A, Zhang X, Hallyburton S, Chen T, et al. RadCloud: Real-Time High-Resolution Point Cloud Generation Using Low-Cost mmWave Radars for Aerial and Ground Vehicles. In: ACM Mobicom 2024 Proceedings of the 30th International Conference on Mobile Computing and Networking. 2024. p. 1754–6.
Hunt, D., et al. “RadCloud: Real-Time High-Resolution Point Cloud Generation Using Low-Cost mmWave Radars for Aerial and Ground Vehicles.” ACM Mobicom 2024 Proceedings of the 30th International Conference on Mobile Computing and Networking, 2024, pp. 1754–56. Scopus, doi:10.1145/3636534.3698849.
Hunt D, Luo S, Khazraei A, Zhang X, Hallyburton S, Chen T, Pajic M. RadCloud: Real-Time High-Resolution Point Cloud Generation Using Low-Cost mmWave Radars for Aerial and Ground Vehicles. ACM Mobicom 2024 Proceedings of the 30th International Conference on Mobile Computing and Networking. 2024. p. 1754–1756.
Published In
ACM Mobicom 2024 Proceedings of the 30th International Conference on Mobile Computing and Networking
DOI
Publication Date
December 4, 2024
Start / End Page
1754 / 1756