Through Fog High-Resolution Imaging Using Millimeter Wave Radar

Champaign (a) Original Scene (c) Camera in Fog (b) Ground Truth (e) Radar Heatmap in Fog (f) Recovered Image (d) Radar Point Cloud in Fog 3 4 5 6 7 12 16 8 10 14 (m) Figure 1: Millimeter wave radar can image through fog and bad weather. However, specularity, artifacts and low resolution result in poor perceptual quality as shown in Figure (d) and (e) above. To overcome this limitation, this paper leverages a cGAN architecture to recover high resolution images from the low resolution mmWave radar heatmaps. The figure above shows (a) the original scene, (b) ground truth depth map captured with stereo camera and cropped using MaskRCNN (before fog is generated), (c) the scene in fog, (d) the millimeter wave radar point cloud generated in the presence of fog, (e) the corresponding radar heatmap, and (f) the recovered output of our system.