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[Submitted on 9 Sep 2026] Title:GRADE: Single-Frame Generative Radar Depth Estimation Under Visual Degradation View a PDF of the paper titled GRADE: Single-Frame Generative Radar Depth Estimation Under Visual Degradation, by Bin Zhao and 2 other authors View PDF HTML (experimental) Abstract:Dense 3D depth perception fails under smoke, fog, and darkness because optical sensors cannot penetrate airborne particulates. mmWave radar remains usable and measures range accurately under these conditions, but its small aperture limits angular resolution. We present GRADE, which grounds a pretrained generative prior in single-frame radar geometry to estimate high-fidelity metric depth. GRADE first maps raw 4D radar spectra to coarse metric depth. A latent diffusion backbone then recovers structural detail while conditioning every denoising step on this estimate. A pixel-space adapter uses residual camera cues when available and is trained across clear, smoke-degraded, and occluded inputs so the full output approaches the radar-conditioned path as visibility degrades. Trained and evaluated on ~95K frames across 12 buildings with real smoke, GRADE achieves an MAE of 0.303 m in clear scenes and 0.313 m under smoke, outperforming existing baselines. Code and datasets are available at this https URL. Comments: To appear in ACM MobiCom 2026 Subjects: Computer Vision and Pattern Recognition (cs.CV); Robotics (cs.RO) Cite as: arXiv:2609.10756 [cs.CV] (or arXiv:2609.10756v1 [cs.CV] for this version) https://doi.org/10.48550/arXiv.2609.10756 arXiv-issued DOI via DataCite (pending registration) Related DOI: https://doi.org/10.1145/3795866.3844478 DOI(s) linking to related resources Submission history From: Bin Zhao [view email] [v1] Wed, 9 Sep 2026 18:57:05 UTC (34,257 KB) Full-text links: Access Paper: View a PDF of the paper titled GRADE: Single-Frame Generative Radar Depth Estimation Under Visual Degradation, by Bin Zhao and 2 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.CV new | recent | 2026-09 Change to browse by: cs cs.RO References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)