単一レーダによる移動ロボット向け両側3D近接場イメージング
Single-Radar Bilateral 3D Near-Field Imaging for Mobile Robots
前方搭載のミリ波レーダ1台と移動による開口合成を用い、ロボット進行方向の両側にある構造物を近接場モデルで3D再構成する手法を提案した。
著者: Yingqi Wang, Tingwei Chen, Zhongqin Wang, Min Xu
分類: cs.RO, cs.CV
原文アブストラクト
Mobile robots operating in homes need reliable 3D perception of nearby furniture and surrounding structures, yet recovering this information on both sides of the robot's path with a single forward-mounted millimeter-wave radar remains challenging because of near-field wavefront curvature, viewpoint-dependent target visibility, and limited elevation diversity. This paper presents a motion-assisted framework for reconstructing structures on both sides of a robot's trajectory. Our near-field model relates scene reflectivity to stepped-frequency multiple-input multiple-output (MIMO) observations across frequencies and robot positions using spherical paths from transmitter (Tx) to scatterer to receiver (Rx). Bilateral Tx combining provides wideband directional weighting, while sliding-aperture back-projection coherently focuses the measurements using near-field propagation distances. Top-K power fusion combines local images with different visibility. The reconstruction provides lateral-forward support for multi-layer height extraction, followed by guarded adaptive height refinement using the original MIMO channels. Experiments in controlled, office/study, and corridor environments produce mean lateral-forward localization errors of 4.65, 5.63, and 5.98 cm, respectively, with peak-to-background ratios (PBRs) exceeding 13 dB. The framework recovers bilateral 3D scattering structure from one forward pass using a single radar, without relying on learned representations of the scene.