# Human Semantic Segmentation using Millimeter-Wave Radar Sparse Point Clouds

arXiv: https://arxiv.org/abs/2304.14132 · HTML: https://mlsanity.com/paper/2304.14132/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 13 of its 24 references that are in the map.
- First posted on arXiv 27 Apr 2023.

## Builds on (most cited first, 13 of 13)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Semi-Supervised Classification with Graph Convolutional Networks](https://mlsanity.com/paper/1609.02907/) (2016)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [PointCNN: Convolution On X-Transformed Points](https://mlsanity.com/paper/1801.07791/) (2018)
- [Set Transformer: A Framework for Attention-based Permutation-Invariant Neural Networks](https://mlsanity.com/paper/1810.00825/) (2018)
- [Grid-GCN for Fast and Scalable Point Cloud Learning](https://mlsanity.com/paper/1912.02984/) (2019)
- [Towards a Mathematical Understanding of Neural Network-Based Machine Learning: what we know and what we don't](https://mlsanity.com/paper/2009.10713/) (2020)
- [Rotation-Invariant Local-to-Global Representation Learning for 3D Point Cloud](https://mlsanity.com/paper/2010.03318/) (2020)
- [Learning to Segment 3D Point Clouds in 2D Image Space](https://mlsanity.com/paper/2003.05593/) (2020)
- [Cross Vision-RF Gait Re-identification with Low-cost RGB-D Cameras and mmWave Radars](https://mlsanity.com/paper/2207.07896/) (2022)
- [MmWave Radar Point Cloud Segmentation using GMM in Multimodal Traffic Monitoring](https://mlsanity.com/paper/1911.06364/) (2019)

## Built on by (most cited first, 1 of 1)

- [Adaptive Pilot Selection for Unified Semantic Communication and Semantic Sensing in ISAC](https://mlsanity.com/paper/2609.30891/) (2026)

## Abstract (arXiv)

This paper presents a framework for semantic segmentation on sparse sequential point clouds of millimeter-wave radar. Compared with cameras and lidars, millimeter-wave radars have the advantage of not revealing privacy, having a strong anti-interference ability, and having long detection distance. The sparsity and capturing temporal-topological features of mmWave data is still a problem. However, the issue of capturing the temporal-topological coupling features under the human semantic segmentation task prevents previous advanced segmentation methods (e.g PointNet, PointCNN, Point Transformer) from being well utilized in practical scenarios. To address the challenge caused by the sparsity and temporal-topological feature of the data, we (i) introduce graph structure and topological features to the point cloud, (ii) propose a semantic segmentation framework including a global feature-extracting module and a sequential feature-extracting module. In addition, we design an efficient and more fitting loss function for a better training process and segmentation results based on graph clustering. Experimentally, we deploy representative semantic segmentation algorithms (Transformer, GCNN, etc.) on a custom dataset. Experimental results indicate that our model achieves mean accuracy on the custom dataset by 82.31% and outperforms the state-of-the-art algorithms. Moreover, to validate the model's robustness, we deploy our model on the well-known S3DIS dataset. On the S3DIS dataset, our model achieves mean accuracy by 92.6%, outperforming baseline algorithms.