Rascene: High-Fidelity 3D Scene Imaging with mmWave Communication Signals

2026-04-02

AI Summary

This work addresses the challenge of reliable 3D scene perception under adverse conditions—such as smoke, haze, or low-light environments—where optical sensors fail, and conventional radar systems suffer from high cost and limited scalability due to reliance on specialized hardware and licensed spectrum. To overcome these limitations, the paper introduces Rascene, a novel framework that leverages widely deployed, general-purpose millimeter-wave OFDM communication signals for high-fidelity 3D imaging without requiring additional sensing hardware. By integrating integrated sensing and communication (ISAC), multi-frame spatially adaptive fusion, and confidence-weighted forward projection, Rascene effectively reconstructs geometrically consistent scene structures from sparse and multipath-contaminated wireless signals. Experimental results demonstrate that Rascene achieves robust, accurate, and scalable 3D reconstruction at low cost, marking a significant step toward practical wireless-based scene understanding.

Abstract

Robust 3D environmental perception is critical for applications such as autonomous driving and robot navigation. However, optical sensors such as cameras and LiDAR often fail under adverse conditions, including smoke, fog, and non-ideal lighting. Although specialized radar systems can operate in these environments, their reliance on bespoke hardware and licensed spectrum limits scalability and cost-effectiveness. This paper introduces Rascene, an integrated sensing and communication (ISAC) framework that leverages ubiquitous mmWave OFDM communication signals for 3D scene imaging. To overcome the sparse and multipath-ambiguous nature of individual radio frames, Rascene performs multi-frame, spatially adaptive fusion with confidence-weighted forward projection, enabling the recovery of geometric consensus across arbitrary poses. Experimental results demonstrate that our method reconstructs 3D scenes with high precision, offering a new pathway toward low-cost, scalable, and robust 3D perception.

Problem

• 3D scene imaging
• mmWave communication
• environmental perception
• adverse conditions
• scalability

Innovation

• mmWave
• ISAC
• 3D scene imaging
• multi-frame fusion
• OFDM