{"id":"https://openalex.org/W4401415959","doi":"https://doi.org/10.1109/icra57147.2024.10610839","title":"RadCloud: Real-Time High-Resolution Point Cloud Generation Using Low-Cost Radars for Aerial and Ground Vehicles","display_name":"RadCloud: Real-Time High-Resolution Point Cloud Generation Using Low-Cost Radars for Aerial and Ground Vehicles","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415959","doi":"https://doi.org/10.1109/icra57147.2024.10610839"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610839","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610839","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000482974","display_name":"David A. Hunt","orcid":"https://orcid.org/0000-0002-6405-5292"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"David Hunt","raw_affiliation_strings":["Duke University,Department of Electrical and Computer Engineering,Durham,NC,USA,27708"],"affiliations":[{"raw_affiliation_string":"Duke University,Department of Electrical and Computer Engineering,Durham,NC,USA,27708","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101668849","display_name":"Shaocheng Luo","orcid":"https://orcid.org/0000-0001-6679-6425"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shaocheng Luo","raw_affiliation_strings":["Duke University,Department of Electrical and Computer Engineering,Durham,NC,USA,27708"],"affiliations":[{"raw_affiliation_string":"Duke University,Department of Electrical and Computer Engineering,Durham,NC,USA,27708","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083641734","display_name":"Amir Khazraei","orcid":"https://orcid.org/0000-0003-1728-4890"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amir Khazraei","raw_affiliation_strings":["Duke University,Department of Electrical and Computer Engineering,Durham,NC,USA,27708"],"affiliations":[{"raw_affiliation_string":"Duke University,Department of Electrical and Computer Engineering,Durham,NC,USA,27708","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100320882","display_name":"Xiao Zhang","orcid":"https://orcid.org/0000-0002-4709-6519"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiao Zhang","raw_affiliation_strings":["Duke University,Department of Electrical and Computer Engineering,Durham,NC,USA,27708"],"affiliations":[{"raw_affiliation_string":"Duke University,Department of Electrical and Computer Engineering,Durham,NC,USA,27708","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041228997","display_name":"Spencer Hallyburton","orcid":null},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Spencer Hallyburton","raw_affiliation_strings":["Duke University,Department of Electrical and Computer Engineering,Durham,NC,USA,27708"],"affiliations":[{"raw_affiliation_string":"Duke University,Department of Electrical and Computer Engineering,Durham,NC,USA,27708","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034818470","display_name":"Tingjun Chen","orcid":"https://orcid.org/0000-0002-5717-5755"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tingjun Chen","raw_affiliation_strings":["Duke University,Department of Electrical and Computer Engineering,Durham,NC,USA,27708"],"affiliations":[{"raw_affiliation_string":"Duke University,Department of Electrical and Computer Engineering,Durham,NC,USA,27708","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086742584","display_name":"Miroslav Paji\u0107","orcid":"https://orcid.org/0000-0002-5357-0117"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Miroslav Pajic","raw_affiliation_strings":["Duke University,Department of Electrical and Computer Engineering,Durham,NC,USA,27708"],"affiliations":[{"raw_affiliation_string":"Duke University,Department of Electrical and Computer Engineering,Durham,NC,USA,27708","institution_ids":["https://openalex.org/I170897317"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5000482974"],"corresponding_institution_ids":["https://openalex.org/I170897317"],"apc_list":null,"apc_paid":null,"fwci":1.6441,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.85090968,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"12269","last_page":"12275"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12125","display_name":"Aerospace and Aviation Technology","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.6136535406112671},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5530100464820862},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.535315752029419},{"id":"https://openalex.org/keywords/radar-configurations-and-types","display_name":"Radar configurations and types","score":0.46344971656799316},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.45093947649002075},{"id":"https://openalex.org/keywords/high-resolution","display_name":"High resolution","score":0.4156438112258911},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.4004695415496826},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3945547044277191},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.29370570182800293},{"id":"https://openalex.org/keywords/radar-engineering-details","display_name":"Radar engineering details","score":0.2864857316017151},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.23322370648384094},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.20301461219787598},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1748162806034088},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1724695861339569}],"concepts":[{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.6136535406112671},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5530100464820862},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.535315752029419},{"id":"https://openalex.org/C5249743","wikidata":"https://www.wikidata.org/wiki/Q2125374","display_name":"Radar configurations and types","level":5,"score":0.46344971656799316},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.45093947649002075},{"id":"https://openalex.org/C3020199158","wikidata":"https://www.wikidata.org/wiki/Q210521","display_name":"High resolution","level":2,"score":0.4156438112258911},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.4004695415496826},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3945547044277191},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.29370570182800293},{"id":"https://openalex.org/C134406370","wikidata":"https://www.wikidata.org/wiki/Q832005","display_name":"Radar engineering details","level":4,"score":0.2864857316017151},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.23322370648384094},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.20301461219787598},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1748162806034088},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1724695861339569},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610839","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610839","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W2892336504","https://openalex.org/W2912984997","https://openalex.org/W3018353706","https://openalex.org/W3087859191","https://openalex.org/W3116493117","https://openalex.org/W4285303928","https://openalex.org/W4315630829","https://openalex.org/W4391724784","https://openalex.org/W6676108343","https://openalex.org/W6753323494","https://openalex.org/W6758969834","https://openalex.org/W6767676838","https://openalex.org/W6769132217","https://openalex.org/W6777695186","https://openalex.org/W6780611232","https://openalex.org/W6787216235","https://openalex.org/W6796293665","https://openalex.org/W6802553625","https://openalex.org/W6803487404","https://openalex.org/W6838441154","https://openalex.org/W6847926615"],"related_works":["https://openalex.org/W4244478748","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W2560439919","https://openalex.org/W4389340727","https://openalex.org/W3150465815","https://openalex.org/W1997222214","https://openalex.org/W2802581102","https://openalex.org/W4205786897"],"abstract_inverted_index":{"In":[0,140],"this":[1],"work,":[2],"we":[3,143],"present":[4],"RadCloud,":[5],"a":[6,94,105,116],"novel":[7,117],"real-time":[8],"framework":[9],"for":[10,44],"directly":[11],"obtaining":[12],"higher-resolution":[13],"lidar-like":[14],"2D":[15],"point":[16,38,123],"clouds":[17,39,124],"from":[18],"low-resolution":[19],"radar":[20,59,86,95,159],"frames":[21],"on":[22,70,84,151],"resource-constrained":[23],"platforms":[24,160],"commonly":[25,135],"used":[26,43,69],"in":[27],"unmanned":[28],"aerial":[29],"and":[30,34,51,78,103,147,155],"ground":[31],"vehicles":[32],"(UAVs":[33],"UGVs,":[35,156],"respectively);":[36],"such":[37],"can":[40],"then":[41],"be":[42,68],"accurate":[45],"environmental":[46],"mapping,":[47],"navigating":[48],"unknown":[49],"environments,":[50],"other":[52],"robotics":[53],"tasks.":[54],"While":[55],"high-resolution":[56],"sensing":[57],"using":[58,93],"data":[60],"has":[61],"been":[62],"previously":[63],"reported,":[64],"existing":[65,81],"methods":[66],"cannot":[67],"most":[71],"UAVs,":[72],"which":[73],"have":[74],"limited":[75],"computational":[76],"power":[77],"energy;":[79],"thus,":[80],"demonstrations":[82],"focus":[83],"offline":[85],"processing.":[87],"RadCloud":[88,114,150],"overcomes":[89],"these":[90],"challenges":[91],"by":[92],"configuration":[96],"with":[97,109,157],"1/4th":[98],"of":[99,149],"the":[100,145],"range":[101],"resolution":[102],"employing":[104],"deep":[106],"learning":[107],"model":[108],"2.25\u00d7":[110],"fewer":[111],"parameters.":[112],"Additionally,":[113],"utilizes":[115],"chirp-based":[118],"approach":[119],"that":[120,134],"makes":[121],"obtained":[122],"resilient":[125],"to":[126],"rapid":[127],"movements":[128],"(e.g.,":[129],"aggressive":[130],"turns":[131],"or":[132],"spins)":[133],"occur":[136],"during":[137],"UAV":[138],"flights.":[139],"real-world":[141],"experiments,":[142],"demonstrate":[144],"accuracy":[146],"applicability":[148],"commercially":[152],"available":[153],"UAVs":[154],"off-the-shelf":[158],"on-board.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}