3D Point Cloud Generation with Millimeter-Wave Radar
3D Point Cloud Generation with Millimeter-Wave Radar
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DOI：
10.1145/3432221
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发表时间：
2020-12
影响因子：
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通讯作者：
Kun Qian;Zhaoyuan He-;Xinyu Zhang
中科院分区：
文献类型：
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作者：
Kun Qian;Zhaoyuan He-;Xinyu Zhang
新兴的自动驾驶系统需要对三维周边环境进行可靠感知。不幸的是，当前主流的感知模式，即摄像头和激光雷达，在具有挑战性的光照和天气条件下较为脆弱。另一方面，尽管当今的车载雷达可全天候运行，但仅限于位置和速度检测。在本文中，我们介绍MILLIPOINT，这是一种实用的系统，它提升了雷达的传感能力以生成三维点云。MILLIPOINT的关键设计原理在于在低成本的商用车载雷达上实现合成孔径雷达（SAR）成像。为此，MILLIPOINT对信号变化和雷达运动之间的关系进行建模，并能够以波长级精度对雷达进行自跟踪，从而实现相干空间采样。此外，MILLIPOINT通过在成像后处理中恰当地聚焦目标，解决了镜面反射这一独特问题。它还利用雷达内置的天线阵列来估计反射点的高度，并最终生成三维点云。我们已在一个商用车载雷达上实现了MILLIPOINT。我们的评估结果表明，MILLIPOINT有效地克服了运动误差和镜面反射，并且与现有的车载雷达解决方案相比，能够构建密度和分辨率高得多的三维点云。
Emerging autonomous driving systems require reliable perception of 3D surroundings. Unfortunately, current mainstream perception modalities, i.e., camera and Lidar, are vulnerable under challenging lighting and weather conditions. On the other hand, despite their all-weather operations, today's vehicle Radars are limited to location and speed detection. In this paper, we introduce MILLIPOINT, a practical system that advances the Radar sensing capability to generate 3D point clouds. The key design principle of MILLIPOINT lies in enabling synthetic aperture radar (SAR) imaging on low-cost commodity vehicle Radars. To this end, MILLIPOINT models the relation between signal variations and Radar movement, and enables self-tracking of Radar at wavelength-scale precision, thus realize coherent spatial sampling. Furthermore, MILLIPOINT solves the unique problem of specular reflection, by properly focusing on the targets with post-imaging processing. It also exploits the Radar's built-in antenna array to estimate the height of reflecting points, and eventually generate 3D point clouds. We have implemented MILLIPOINT on a commodity vehicle Radar. Our evaluation results show that MILLIPOINT effectively combats motion errors and specular reflections, and can construct 3D point clouds with much higher density and resolution compared with the existing vehicle Radar solutions.