{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,11]],"date-time":"2026-03-11T23:38:46Z","timestamp":1773272326000,"version":"3.50.1"},"reference-count":54,"publisher":"Association for Computing Machinery (ACM)","issue":"2","funder":[{"DOI":"10.13039\/501100001659","name":"Deutsche Forschungsgemeinschaft","doi-asserted-by":"publisher","award":["SFB 1483 - Project-ID 442419336, EmpkinS"],"award-info":[{"award-number":["SFB 1483 - Project-ID 442419336, EmpkinS"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Graph."],"published-print":{"date-parts":[[2026,4,30]]},"abstract":"<jats:p>\n                    Utilizing the complementary strengths of wavelength-specific range or depth sensors is crucial for robust computer-assisted tasks such as autonomous driving. Despite this, there is still little research done at the intersection of optical depth sensors and radars operating close range, where the target is decimeters away from the sensors. Together with a growing interest in high-resolution imaging radars operating in the near field, the question arises how these sensors behave in comparison to their traditional optical counterparts. In this work, we take on the unique challenge of jointly characterizing depth imagers from both, the optical and radio-frequency domain using a multimodal spatial calibration. We collect data from four depth imagers, with three optical sensors of varying operation principle and an imaging radar. We provide a comprehensive evaluation of their depth measurements with respect to distinct object materials, geometries, and object-to-sensor distances. Specifically, we reveal scattering effects of partially transmissive materials and investigate the response of radio-frequency signals. All object measurements are made public in form of a multimodal dataset, called MAROON, which can be accessed at:\n                    <jats:ext-link xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" ext-link-type=\"url\" xlink:href=\"https:\/\/vwirth.github.io\/maroon\">https:\/\/vwirth.github.io\/maroon<\/jats:ext-link>\n                    .\n                  <\/jats:p>","DOI":"10.1145\/3796224","type":"journal-article","created":{"date-parts":[[2026,2,11]],"date-time":"2026-02-11T21:15:16Z","timestamp":1770844516000},"page":"1-18","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["MAROON: A Dataset for the Joint Characterization of Near-Field High-Resolution Radio-Frequency and Optical Depth Imaging Techniques"],"prefix":"10.1145","volume":"45","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8295-3021","authenticated-orcid":false,"given":"Vanessa","family":"Wirth","sequence":"first","affiliation":[{"name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","place":["Erlangen, Germany"]}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2276-272X","authenticated-orcid":false,"given":"Johanna","family":"Br\u00e4unig","sequence":"additional","affiliation":[{"name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","place":["Erlangen, Germany"]}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-8441-5030","authenticated-orcid":false,"given":"Nikolai","family":"Hofmann","sequence":"additional","affiliation":[{"name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","place":["Erlangen, Germany"]}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8369-345X","authenticated-orcid":false,"given":"Martin","family":"Vossiek","sequence":"additional","affiliation":[{"name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","place":["Erlangen, Germany"]}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4322-8844","authenticated-orcid":false,"given":"Tim","family":"Weyrich","sequence":"additional","affiliation":[{"name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","place":["Erlangen, Germany"]},{"name":"University College London","place":["London, United Kingdom of Great Britain and Northern Ireland"]}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8699-3442","authenticated-orcid":false,"given":"Marc","family":"Stamminger","sequence":"additional","affiliation":[{"name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","place":["Erlangen, Germany"]}]}],"member":"320","published-online":{"date-parts":[[2026,3,11]]},"reference":[{"key":"e_1_3_3_2_1","doi-asserted-by":"publisher","DOI":"10.5555\/2636772"},{"key":"e_1_3_3_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/JMW.2020.3035790"},{"key":"e_1_3_3_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISSCC.2018.8310200"},{"key":"e_1_3_3_5_1","doi-asserted-by":"publisher","DOI":"10.1515\/teme-2021-0034"},{"key":"e_1_3_3_6_1","first-page":"54","volume-title":"Proceedings of the 37th Asilomar Conference on Signals, Systems & Computers, 2003","volume":"1","author":"Bliss D. W.","year":"2003","unstructured":"D. W. Bliss and K. W. Forsythe. 2003. Multiple-input multiple-output (MIMO) radar and imaging: Degrees of freedom and resolution. In Proceedings of the 37th Asilomar Conference on Signals, Systems & Computers, 2003, Vol. 1. IEEE, 54\u201359."},{"key":"e_1_3_3_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/BHI58575.2023.10313506"},{"key":"e_1_3_3_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRS.2023.3309574"},{"key":"e_1_3_3_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161428"},{"key":"e_1_3_3_10_1","doi-asserted-by":"publisher","DOI":"10.1145\/3503161.3548262"},{"key":"e_1_3_3_11_1","doi-asserted-by":"publisher","DOI":"10.1177\/0954411919859922"},{"key":"e_1_3_3_12_1","doi-asserted-by":"publisher","DOI":"10.1049\/iet-rsn.2019.0471"},{"key":"e_1_3_3_13_1","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-319-91761-0","volume-title":"A Survey on 3D Cameras: Metrological Comparison of Time-of-Flight, Structured-Light and Active Stereoscopy Technologies (1st ed.)","author":"Giancola Silvio","year":"2018","unstructured":"Silvio Giancola, Matteo Valenti, and Remo Sala. 2018. A Survey on 3D Cameras: Metrological Comparison of Time-of-Flight, Structured-Light and Active Stereoscopy Technologies (1st ed.). Springer Publishing Company, Incorporated."},{"key":"e_1_3_3_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2018.2852795"},{"key":"e_1_3_3_15_1","volume-title":"Time-of-Flight Cameras: Principles, Methods and Applications","author":"Hansard Miles","year":"2012","unstructured":"Miles Hansard, Seungkyu Lee, Ouk Choi, and Radu Horaud. 2012. Time-of-Flight Cameras: Principles, Methods and Applications. Springer Publishing Company, Incorporated."},{"key":"e_1_3_3_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMTT.2011.2178427"},{"key":"e_1_3_3_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/JMW.2025.3535077"},{"key":"e_1_3_3_18_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00138-016-0784-4"},{"key":"e_1_3_3_19_1","unstructured":"Intel 2023. Intel\u00aeRealSense\u2122 Product Family D400 Series. Intel. Retrieved February 19 2026 from https:\/\/www.intel.com\/content\/www\/us\/en\/products\/sku\/190004\/intel-realsense-depth-camera-d435i\/specifications.html"},{"key":"e_1_3_3_20_1","doi-asserted-by":"publisher","DOI":"10.1145\/383259.383319"},{"key":"e_1_3_3_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/AUTEST.2018.8532561"},{"key":"e_1_3_3_22_1","doi-asserted-by":"publisher","DOI":"10.1049\/SBRA026E"},{"key":"e_1_3_3_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/WACV56688.2023.00567"},{"key":"e_1_3_3_24_1","doi-asserted-by":"publisher","DOI":"10.1145\/2897824.2925953"},{"key":"e_1_3_3_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSTSP.2021.3061270"},{"key":"e_1_3_3_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/MILCOM.2013.212"},{"key":"e_1_3_3_27_1","doi-asserted-by":"publisher","DOI":"10.1364\/BOE.388349"},{"key":"e_1_3_3_28_1","doi-asserted-by":"publisher","DOI":"10.1049\/iet-rsn.2018.5016"},{"key":"e_1_3_3_29_1","unstructured":"Microsoft 2022. Azure Kinect DK Hardware Specifications. Microsoft. Retrieved February 19 2026 from https:\/\/learn.microsoft.com\/en-us\/azure\/kinect-dk\/hardware-specification"},{"key":"e_1_3_3_30_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2018.01.058"},{"key":"e_1_3_3_31_1","doi-asserted-by":"publisher","unstructured":"Shree K. Nayar Gurunandan Krishnan Michael D. Grossberg and Ramesh Raskar. 2006. Fast separation of direct and global components of a scene using high frequency illumination . In Proceedings of the 33rd ACM Special Interest Group on Graphics and Interactive Techniques (SIGGRAPH \u201906). ACM New York NY USA 935\u2013944. DOI:10.1145\/1179352.1141977","DOI":"10.1145\/1179352.1141977"},{"key":"e_1_3_3_32_1","doi-asserted-by":"publisher","DOI":"10.1111\/phor.12063"},{"key":"e_1_3_3_33_1","unstructured":"Tianhe Ren Shilong Liu Ailing Zeng Jing Lin Kunchang Li He Cao Jiayu Chen Xinyu Huang Yukang Chen Feng Yan et\u00a0al. 2024. Grounded SAM: Assembling open-world models for diverse visual tasks. arxiv:abs\/2401.14159. Retrieved from https:\/\/arxiv.org\/abs\/2401.14159"},{"key":"e_1_3_3_34_1","unstructured":"Rohde & Schwarz 2023. R&S\u00aeQAR50 Quality automotive radome tester. Rohde & Schwarz. Retrieved February 19 2026 from https:\/\/www.rohde-schwarz.com\/products\/test-and-measurement\/radome-tester\/rs-qar50-quality-automotive-radome-tester_63493-1138625.html?change_c=true"},{"key":"e_1_3_3_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/JMW.2022.3196454"},{"key":"e_1_3_3_36_1","doi-asserted-by":"publisher","DOI":"10.1109\/JMW.2021.3104722"},{"key":"e_1_3_3_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/MAP.2017.2706648"},{"key":"e_1_3_3_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2979339"},{"key":"e_1_3_3_39_1","unstructured":"Stereolabs 2023. ZED X Datasheet. Stereolabs. Retrieved February 19 2026 from https:\/\/www.stereolabs.com\/en-de\/store\/products\/zed-x-mini-stereo-camera"},{"key":"e_1_3_3_40_1","doi-asserted-by":"publisher","DOI":"10.1109\/MSP.2020.2978507"},{"key":"e_1_3_3_41_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-34372-9"},{"key":"e_1_3_3_42_1","doi-asserted-by":"publisher","DOI":"10.1145\/3532212"},{"key":"e_1_3_3_43_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCP51029.2020.9266268"},{"key":"e_1_3_3_44_1","doi-asserted-by":"publisher","DOI":"10.1145\/3528223.3530161"},{"key":"e_1_3_3_45_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2021.3054820"},{"issue":"17","key":"e_1_3_3_46_1","article-title":"3DRIED: A high-resolution 3-D millimeter-wave radar dataset dedicated to imaging and evaluation","volume":"13","author":"Wei Shunjun","year":"2021","unstructured":"Shunjun Wei, Zichen Zhou, Mou Wang, Jinshan Wei, Shan Liu, Jun Shi, Xiaoling Zhang, and Fan Fan. 2021. 3DRIED: A high-resolution 3-D millimeter-wave radar dataset dedicated to imaging and evaluation. Remote Sensing 13, 17 (2021). https:\/\/www.mdpi.com\/about\/announcements\/784","journal-title":"Remote Sensing"},{"key":"e_1_3_3_47_1","doi-asserted-by":"crossref","unstructured":"Vanessa Wirth Johanna Br\u00e4unig Danti Khouri Florian Gutsche Martin Vossiek Tim Weyrich and Marc Stamminger. 2024. Automatic spatial calibration of near-field MIMO radar with respect to optical sensors. In Proceedings of the 2024 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS \u201924). 8322\u20138329. Retrieved from https:\/\/ieeexplore.ieee.org\/abstract\/document\/10801705","DOI":"10.1109\/IROS58592.2024.10801705"},{"key":"e_1_3_3_48_1","unstructured":"Vanessa Wirth Johanna Br\u00e4unig Martin Vossiek Tim Weyrich and Marc Stamminger. 2025. MM-2FSK: Multimodal frequency shift keying for ultra-efficient and robust high-resolution MIMO radar imaging. arxiv:abs\/2511.01405. Retrieved from https:\/\/arxiv.org\/abs\/2511.01405"},{"key":"e_1_3_3_49_1","doi-asserted-by":"publisher","DOI":"10.1016\/0030-4018(69)90052-2"},{"key":"e_1_3_3_50_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2012.6247697"},{"key":"e_1_3_3_51_1","doi-asserted-by":"publisher","DOI":"10.1109\/MSP.2017.2669347"},{"key":"e_1_3_3_52_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-30973-6"},{"key":"e_1_3_3_53_1","doi-asserted-by":"publisher","DOI":"10.1109\/RITAPP.2019.8932892"},{"key":"e_1_3_3_54_1","doi-asserted-by":"publisher","DOI":"10.1017\/S1759078711000122"},{"issue":"12","key":"e_1_3_3_55_1","article-title":"A synthetic aperture radar (SAR)-based technique for microwave imaging and material characterization","volume":"7","author":"L\u00f3pez Yuri \u00c1lvarez","year":"2018","unstructured":"Yuri \u00c1lvarez L\u00f3pez, Mar\u00eda Garc\u00eda Fern\u00e1ndez, Raphael Grau, and Fernando Las-Heras. 2018. A synthetic aperture radar (SAR)-based technique for microwave imaging and material characterization. Electronics 7, 12 (2018). https:\/\/www.mdpi.com\/about\/announcements\/784","journal-title":"Electronics"}],"container-title":["ACM Transactions on Graphics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3796224","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,11]],"date-time":"2026-03-11T08:44:54Z","timestamp":1773218694000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3796224"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,3,11]]},"references-count":54,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2026,4,30]]}},"alternative-id":["10.1145\/3796224"],"URL":"https:\/\/doi.org\/10.1145\/3796224","relation":{},"ISSN":["0730-0301","1557-7368"],"issn-type":[{"value":"0730-0301","type":"print"},{"value":"1557-7368","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,3,11]]},"assertion":[{"value":"2024-10-31","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-01-24","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-03-11","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}