RadarEye: Robust Liquid Level Tracking Using mmWave Radar in Robotic Pouring

• URL: http://arxiv.org/abs/2602.10417v1
• Date: Wed, 11 Feb 2026 01:57:13 GMT
• Title: RadarEye: Robust Liquid Level Tracking Using mmWave Radar in Robotic Pouring
• Abstract summary: RadarEye is a real-time mmWave radar signal processing pipeline for liquid level estimation and tracking.<n>RadarEye achieves a 0.35 cm median absolute height error at 0.62 ms per update, substantially outperforming vision and ultrasound baselines.
• Score: 4.023217125139733
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Transparent liquid manipulation in robotic pouring remains challenging for perception systems: specular/refraction effects and lighting variability degrade visual cues, undermining reliable level estimation. To address this challenge, we introduce RadarEye, a real-time mmWave radar signal processing pipeline for robust liquid level estimation and tracking during the whole pouring process. RadarEye integrates (i) a high-resolution range-angle beamforming module for liquid level sensing and (ii) a physics-informed mid-pour tracker that suppresses multipath to maintain lock on the liquid surface despite stream-induced clutter and source container reflections. The pipeline delivers sub-millisecond latency. In real-robot water-pouring experiments, RadarEye achieves a 0.35 cm median absolute height error at 0.62 ms per update, substantially outperforming vision and ultrasound baselines.

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