用旋转反小孔提升毫米波雷达角分辨率，实现低成本高精度成像。
Millimeter Wave Inverse Pinhole Imaging
- 通过旋转毫米波反小孔构造虚拟大阵列，提升角分辨率。
- 单天线系统实现2.5°角分辨率，较基准提升5倍。
- 适合无人机等移动平台，利用螺旋桨天然充当反小孔。
毫米波雷达因体积紧凑，常用于视觉受限场景的感知。本文针对固定安装或瞬时静止的小型雷达面临的角分辨率受限问题，提出Umbra系统，引入旋转毫米波“反小孔”概念以增强角分辨率。反小孔结构轻量化，可低功耗旋转，适用于静态安装雷达的升级。研究还发现飞行器旋翼在悬停时可自然充当反小孔，实现高分辨率成像。实验表明，Umbra系统仅用单天线即可实现最高2.5°角分辨率，相比紧凑毫米波雷达基线（14°）提升5倍。
原文摘要 · Abstract (English)
Millimeter wave (mmWave) radars are popular for perception in vision-denied contexts due to their compact size. This paper explores emerging use-cases that involve static mount or momentarily-static compact radars, for example, a hovering drone. The key challenge with static compact radars is that their limited form-factor also limits their angular resolution. This paper presents Umbra, a mmWave high resolution imaging system, that introduces the concept of rotating mmWave "inverse pinholes" for angular resolution enhancement. We present the imaging system model, design, and evaluation of mmWave inverse pinholes. The inverse pinhole is attractive for its lightweight nature, which enables low-power rotation, upgrading static-mount radars. We also show how propellers in aerial vehicles act as natural inverse pinholes and can enjoy the benefits of high-resolution imaging even while they are momentarily static, e.g., hovering. Our evaluation shows Umbra resolving up to 2.5$^{\circ}$ with just a single antenna, a 5$\times$ improvement compared to 14$^{\circ}$ from a compact mmWave radar baseline.
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