Edge Radar Material Classification Under Geometry Shifts

Material awareness can improve robotic navigation and interaction, particularly in conditions where cameras and LiDAR degrade. We present a lightweight mmWave radar material classification pipeline designed for ultra-low-power edge devices (TI IWRL6432), using compact range-bin intensity descriptors and a Multilayer Perceptron (MLP) for real-time inference. While the classifier reaches a macro-F1 of 94.2% under the nominal training geometry, we observe a pronounced performance drop under realistic geometry shifts, including sensor height changes and small tilt angles. These perturbations induce systematic intensity scaling and angle-dependent radar cross section (RCS) effects, pushing features out of distribution and reducing macro-F1 to around 68.5%. We analyze these failure modes and outline practical directions for improving robustness with normalization, geometry augmentation, and motion-aware features.

Source: arXiv:2603.23342v1 - http://arxiv.org/abs/2603.23342v1 PDF: https://arxiv.org/pdf/2603.23342v1 Original Link: http://arxiv.org/abs/2603.23342v1