Non-Line-of-Sight 3D Reconstruction with Radar
Haowen Lai, Zitong Lan, Mingmin Zhao
Seeing hidden structures and objects around corners is critical for robots operating in complex, cluttered environments. We present HoloRadar, a practical system that reconstructs both line-of-sight (LOS) and non-line-of-sight (NLOS) 3D scenes using a single mmWave radar. HoloRadar uses a two-stage pipeline: the first stage generates high-resolution multi-return range images that capture both LOS and NLOS reflections, and the second stage reconstructs the physical scene by mapping mirrored observations to their true locations using a physics-guided architecture that models ray interactions.We deploy HoloRadar on a mobile robot and evaluate it across diverse real-world environments.Our evaluation results demonstrate accurate and robust reconstruction in both LOS and NLOS regions.