Non-Line-of-Sight 3D Object Reconstruction via mmWave Surface Normal Estimation
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3711875.3729138.pdf
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16.52 MB
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Checksum (MD5)
03f8d672d574dde05679711b509346a9
Author(s)
Dodds, Laura
Boroushaki, Tara
Zhou, Kaichen
Adib, Fadel
Date Issued
June 2025
Publisher
ACM|The 23rd Annual International Conference on Mobile Systems, Applications and Services
Citation
Dodds, Laura, Boroushaki, Tara, Zhou, Kaichen and Adib, Fadel. 2025. "Non-Line-of-Sight 3D Object Reconstruction via mmWave Surface Normal Estimation."
Version
Final published version
Abstract
This paper presents the design, implementation, and evaluation of
mmNorm, a new and highly-accurate method for non-line-of-sight
3D object reconstruction using millimeter wave (mmWave) signals.
In contrast to past approaches for millimeter-wave-based imaging
that perform backprojection for 3D object reconstruction, mmNorm
reconstructs the surface by estimating the object’s surface normals.
To do this, it introduces a novel algorithm that directly estimates
the surface normal vector field from mmWave reflections. By then
inverting the normal field, it can reconstruct structural isosurfaces,
then solve for the exact surface through a novel mmWave optimization framework.
We built an end-to-end prototype of mmNorm using a TI IWR1443
Boost mmWave radar and a UR5e Robotic Arm, and evaluated it
in over 110 real-world experiments across more than 60 different
everyday objects. In a head-to-head comparison with state-of-theart baselines, mmNorm achieves 96% reconstruction accuracy (3D
F-score) compared to 78% for the best-performing baseline. These
results show that mmNorm is capable of high-accuracy mmWave
object reconstruction. The codebase and a video demonstration are
available here: https://github.com/signalkinetics/mmNorm
Description
MobiSys ’25, Anaheim, CA, USA
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Media Laboratory
Program in Media Arts and Sciences (Massachusetts Institute of Technology)
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