# 3D Reconstruction of Multiple Objects by mmWave Radar on UAV

arXiv: https://arxiv.org/abs/2211.02150 · HTML: https://mlsanity.com/paper/2211.02150/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 10 of its 17 references that are in the map.
- First posted on arXiv 3 Nov 2022.

## Builds on (most cited first, 10 of 10)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Image-to-Image Translation with Conditional Adversarial Networks](https://mlsanity.com/paper/1611.07004/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [PCN: Point Completion Network](https://mlsanity.com/paper/1808.00671/) (2018)
- [Shape Completion using 3D-Encoder-Predictor CNNs and Shape Synthesis](https://mlsanity.com/paper/1612.00101/) (2016)
- [VConv-DAE: Deep Volumetric Shape Learning Without Object Labels](https://mlsanity.com/paper/1604.03755/) (2016)
- [See Through Smoke: Robust Indoor Mapping with Low-cost mmWave Radar](https://mlsanity.com/paper/1911.00398/) (2019)
- [3D Object Reconstruction from a Single Depth View with Adversarial Learning](https://mlsanity.com/paper/1708.07969/) (2017)
- [3DRIMR: 3D Reconstruction and Imaging via mmWave Radar based on Deep Learning](https://mlsanity.com/paper/2108.02858/) (2021)
- [R2P: A Deep Learning Model from mmWave Radar to Point Cloud](https://mlsanity.com/paper/2207.10690/) (2022)

## Built on by (most cited first, 3 of 3)

- [Wave-Former: Through-Occlusion 3D Reconstruction via Wireless Shape Completion](https://mlsanity.com/paper/2511.14152/) (2025)
- [GeRaF: Neural Geometry Reconstruction from Radio Frequency Signals](https://mlsanity.com/paper/2605.29097/) (2026)
- [Seeing through boxes: Non-Line-of-Sight 3D Reconstruction from Radar Signals](https://mlsanity.com/paper/2605.29098/) (2026)

## Abstract (arXiv)

In this paper, we explore the feasibility of utilizing a mmWave radar sensor installed on a UAV to reconstruct the 3D shapes of multiple objects in a space. The UAV hovers at various locations in the space, and its onboard radar senor collects raw radar data via scanning the space with Synthetic Aperture Radar (SAR) operation. The radar data is sent to a deep neural network model, which outputs the point cloud reconstruction of the multiple objects in the space. We evaluate two different models. Model 1 is our recently proposed 3DRIMR/R2P model, and Model 2 is formed by adding a segmentation stage in the processing pipeline of Model 1. Our experiments have demonstrated that both models are promising in solving the multiple object reconstruction problem. We also show that Model 2, despite producing denser and smoother point clouds, can lead to higher reconstruction loss or even loss of objects. In addition, we find that both models are robust to the highly noisy radar data obtained by unstable SAR operation due to the instability or vibration of a small UAV hovering at its intended scanning point. Our exploratory study has shown a promising direction of applying mmWave radar sensing in 3D object reconstruction.