MiHazeFree3D: 3D Bounding Box Prediction for Vehicles and Pedestrians in Fog and Low-Light Conditions

We present MiHazeFree3D , a system that leverages millimeter-wave (mmWave) radar signals to predict 3D bounding boxes of vehicles and pedestrians in real-world traffic scenarios. While current 3D object detection methods rely primarily on cameras and LiDARs, their performance degrades significantly in rain, fog, or poor lighting conditions. Our system exploits mmWave radar’s ability to operate reliably in these challenging conditions, offering a complement to existing sensors without increasing computational costs. The key challenge in using mmWave for 3D detection lies in handling motion-induced errors and the specular reflection of mmWave signals. To address these issues, we developed a deep learning architecture with multiple feature fusion layers and trained it on diverse real-world scenarios. We evaluated MiHazeFree3D using data collected from mmWave radars mounted on the dashboard of an ego-vehicle driving through urban environments. Our results show that MiHazeFree3D detects and bounds both vehicles and pedestrians in tested conditions, including fog and low-light scenarios, highlighting the potential of mmWave radar for 3D object detection in autonomous driving systems.