4D Radar Gaussian Modeling and Scan Matching with RCS

• URL: http://arxiv.org/abs/2604.14868v1
• Date: Thu, 16 Apr 2026 10:58:29 GMT
• Title: 4D Radar Gaussian Modeling and Scan Matching with RCS
• Abstract summary: Radar Cross Section (RCS) information is often overlooked and not usually used in modeling and scan matching processes.<n>We propose incorporating the physical behavior of RCS in the model, in order to further enrich the summarized information about the scene.
• Score: 80.74019565026542
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: 4D millimeter-wave (mmWave) radars are increasingly used in robotics, as they offer robustness against adverse environmental conditions. Besides the usual XYZ position, they provide Doppler velocity measurements as well as Radar Cross Section (RCS) information for every point. While Doppler is widely used to filter out dynamic points, RCS is often overlooked and not usually used in modeling and scan matching processes. Building on previous 3D Gaussian modeling and scan matching work, we propose incorporating the physical behavior of RCS in the model, in order to further enrich the summarized information about the scene, and improve the scan matching process.

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