# Cooperation and Federation in Distributed Radar Point Cloud Processing

arXiv: https://arxiv.org/abs/2405.01995 · HTML: https://mlsanity.com/paper/2405.01995/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 8 of its 26 references that are in the map.
- First posted on arXiv 3 May 2024.

## Builds on (most cited first, 8 of 8)

- [PointCleanNet: Learning to Denoise and Remove Outliers from Dense Point Clouds](https://mlsanity.com/paper/1901.01060/) (2019)
- [Opportunities of Federated Learning in Connected, Cooperative and Automated Industrial Systems](https://mlsanity.com/paper/2101.03367/) (2021)
- [A Bayesian Federated Learning Framework with Online Laplace Approximation](https://mlsanity.com/paper/2102.01936/) (2021)
- [Federated Generalized Bayesian Learning via Distributed Stein Variational Gradient Descent](https://mlsanity.com/paper/2009.06419/) (2020)
- [Ultra-Reliable and Low-Latency Wireless Communication: Tail, Risk and Scale](https://mlsanity.com/paper/1801.01270/) (2018)
- [DBSCAN++: Towards fast and scalable density clustering](https://mlsanity.com/paper/1810.13105/) (2018)
- [Tesla-Rapture: A Lightweight Gesture Recognition System from mmWave Radar Point Clouds](https://mlsanity.com/paper/2109.06448/) (2021)
- [A Multisensory Edge-Cloud Platform for Opportunistic Radio Sensing in Cobot Environments](https://mlsanity.com/paper/2103.14546/) (2021)

## Abstract (arXiv)

The paper considers the problem of human-scale RF sensing utilizing a network of resource-constrained MIMO radars with low range-azimuth resolution. The radars operate in the mmWave band and obtain time-varying 3D point cloud (PC) information that is sensitive to body movements. They also observe the same scene from different views and cooperate while sensing the environment using a sidelink communication channel. Conventional cooperation setups allow the radars to mutually exchange raw PC information to improve ego sensing. The paper proposes a federation mechanism where the radars exchange the parameters of a Bayesian posterior measure of the observed PCs, rather than raw data. The radars act as distributed parameter servers to reconstruct a global posterior (i.e., federated posterior) using Bayesian tools. The paper quantifies and compares the benefits of radar federation with respect to cooperation mechanisms. Both approaches are validated by experiments with a real-time demonstration platform. Federation makes minimal use of the sidelink communication channel (20 div 25 times lower bandwidth use) and is less sensitive to unresolved targets. On the other hand, cooperation reduces the mean absolute target estimation error of about 20%.