3D Point Splatting for mmWave Radar Novel View Synthesis — Paper

Abstract

Solving novel view synthesis (NVS) for millimeter-wave (mmWave) radar requires a renderer that is physically faithful, complex-valued, and multi-viewpoint-tractable. No prior method achieves these three properties simultaneously. Differentiable Monte Carlo (MC) ray tracers implement the radar forward model directly with explicit material modeling and complex outputs, but do not scale to the multi-view optimization NVS demands. Optical-NVS ports of NeRF, hash grids, and 3D Gaussians train fast but discard phase and replace explicit material modeling with opaque learned features, restricting them to power-only range-azimuth (RA) magnitudes. We propose 3D Point Splatting (3DPS), the first differentiable point renderer for radar, derived directly from the standard solid-angle form of the radar equation. Each oriented 3D point carries an ITU-R P.2040 material model, evaluated in closed form, with the resulting complex phasor splatted into range bins through a precomputed point spread function (PSF). The complex-valued output makes the renderer product-agnostic. The same optimized scene yields analog-to-digital converter (ADC), complex range profile (CRP), and RA outputs through standard fast Fourier transform (FFT) pipelines without retraining for each format. On six outdoor ColoRadar scenes, 3DPS reaches 0.587 mean Pearson correlation on held-out RA images. This is between 1.7x and 5.2x the three optical-NVS baselines (RadarSplat, Radar Fields, DART). Training takes approximately 3 minutes per scene on a single RTX 4090.

Authors 3

Adnan Armouti, Yixuan Gao, Rajalakshmi Nandakumar

Specification

Official page: arxiv.org/abs/2609.11894
Source:arXiv (Atom API + RSS)T1observed 22 min agohigh
Arxiv announce type: new
Source:arXiv (Atom API + RSS)T1observed 21 min agohigh
arXiv id: 2609.11894
Source:arXiv (Atom API + RSS)T1observed 22 min agohigh
Categories: cs.CV, cs.GR, cs.LG, eess.SP
Source:arXiv (Atom API + RSS)T1observed 22 min agohigh
PDF: arxiv.org/pdf/2609.11894
Source:arXiv (Atom API + RSS)T1observed 22 min agohigh
Primary category: cs.CV
Source:arXiv (Atom API + RSS)T1observed 22 min agohigh
Published: 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 22 min agohigh

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9

Source tiers

T19

Freshest observation

21 min ago

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None

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Authors: Adnan Armouti, Yixuan Gao, Rajalakshmi Nandakumar

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10 claims · 9 properties

Official pageofficial_url1

Claim history for Official page
Value	Valid from → to	Status	Source	Confidence	Extractor
https://arxiv.org/abs/2609.11894	11 Sept 2026 21:02 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Abstractabstract1

Claim history for Abstract
Value	Valid from → to	Status	Source	Confidence	Extractor
Solving novel view synthesis (NVS) for millimeter-wave (mmWave) radar requires a renderer that is physically faithful, complex-valued, and multi-viewpoint-tractable. No prior method achieves these three properties simultaneously. Differentiable Monte Carlo (MC) ray tracers implement the radar forward model directly with explicit material modeling and complex outputs, but do not scale to the multi-view optimization NVS demands. Optical-NVS ports of NeRF, hash grids, and 3D Gaussians train fast but discard phase and replace explicit material modeling with opaque learned features, restricting them to power-only range-azimuth (RA) magnitudes. We propose 3D Point Splatting (3DPS), the first differentiable point renderer for radar, derived directly from the standard solid-angle form of the radar equation. Each oriented 3D point carries an ITU-R P.2040 material model, evaluated in closed form, with the resulting complex phasor splatted into range bins through a precomputed point spread function (PSF). The complex-valued output makes the renderer product-agnostic. The same optimized scene yields analog-to-digital converter (ADC), complex range profile (CRP), and RA outputs through standard fast Fourier transform (FFT) pipelines without retraining for each format. On six outdoor ColoRadar scenes, 3DPS reaches 0.587 mean Pearson correlation on held-out RA images. This is between 1.7x and 5.2x the three optical-NVS baselines (RadarSplat, Radar Fields, DART). Training takes approximately 3 minutes per scene on a single RTX 4090.	11 Sept 2026 21:02 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Arxiv announce typearxiv_announce_type2

Claim history for Arxiv announce type
Value	Valid from → to	Status	Source	Confidence	Extractor
new	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic
cross	11 Sept 2026 21:02 UTC → 11 Sept 2026 21:03 UTC	superseded	arXiv (Atom API + RSS)T1	high	deterministic

arXiv idarxiv_id1

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Value	Valid from → to	Status	Source	Confidence	Extractor
2609.11894	11 Sept 2026 21:02 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Authorsauthors1

Claim history for Authors
Value	Valid from → to	Status	Source	Confidence	Extractor
Adnan Armouti, Yixuan Gao, Rajalakshmi Nandakumar	11 Sept 2026 21:02 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Categoriescategories1

Claim history for Categories
Value	Valid from → to	Status	Source	Confidence	Extractor
cs.CV, cs.GR, cs.LG, eess.SP	11 Sept 2026 21:02 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

PDFpdf_url1

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https://arxiv.org/pdf/2609.11894	11 Sept 2026 21:02 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Primary categoryprimary_category1

Claim history for Primary category
Value	Valid from → to	Status	Source	Confidence	Extractor
cs.CV	11 Sept 2026 21:02 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Publishedpublished_at1

Claim history for Published
Value	Valid from → to	Status	Source	Confidence	Extractor
11 Sept 2026	11 Sept 2026 21:02 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

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11 Sept 2026
Property changedPaper3D Point Splatting for mmWave Radar Novel View Synthesis
3D Point Splatting for mmWave Radar Novel View Synthesis: arxiv announce type changed from cross to new
Arxiv announce typecross→newarxiv
rss.arxiv.org
11 Sept 2026
New paperPaper3D Point Splatting for mmWave Radar Novel View Synthesis
New paper: 3D Point Splatting for mmWave Radar Novel View Synthesis
arxiv
rss.arxiv.org

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Source documents
Source	Document	Type	Tier	Last observed	Snapshots
arXiv (Atom API + RSS)	rss.arxiv.org/rss/cs.CV	feed	T1· Official	21 min ago	1
arXiv (Atom API + RSS)	rss.arxiv.org/rss/cs.LG	feed	T1· Official	22 min ago	1

Tier 1 = official/primary, 2 = quality secondary, 3 = community, 4 = unverified. Every snapshot is archived; see all sources and the methodology.