Terrain Perception for Agricultural UAVs in Complex Farmland via Rotating mmWave Radar
Overview
This research presents a low-cost rotating millimeter-wave radar framework designed to improve terrain perception for uncrewed aerial vehicles (UAVs) operating in complex agricultural environments. The system addresses challenges such as occlusions and dynamic flight conditions by utilizing a mechanically rotating sensing design to expand spatial coverage. A pose-consistent terrain reconstruction pipeline is developed to handle sparse and noisy radar data, enabling reliable ground extraction. Deployed on a real agricultural UAV platform, the system was evaluated through extensive field experiments, achieving an F1 score of 94.42% for ground segmentation, outperforming existing rival systems that achieved 90.48%. The work demonstrates the viability of rotating mmWave radar as a robust sensing modality for terrain-following flight in adverse conditions.
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- arXiv Robotics — research abstractsSignalTerrain Perception for Agricultural UAVs in Complex Farmland via Rotating mmWave Radar
This research presents a low-cost rotating millimeter-wave radar framework designed to improve terrain perception for uncrewed aerial vehicles (UAVs) operating in complex agricultural environments. The system addresses challenges such as occlusions and dynamic flight conditions by utilizing a mechanically rotating sensing design to expand spatial coverage. A pose-consistent terrain reconstruction pipeline is developed to handle sparse and noisy radar data, enabling reliable ground extraction. Deployed on a real agricultural UAV platform, the system was evaluated through extensive field experiments, achieving an F1 score of 94.42% for ground segmentation, outperforming existing rival systems that achieved 90.48%. The work demonstrates the viability of rotating mmWave radar as a robust sensing modality for terrain-following flight in adverse conditions.
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