Dense Soft Weighting for Radar Ego-Velocity Estimation

Sensing ego-velocity estimation is fundamental to state estimation in visually degraded environments, where camera- and LiDAR-based pipelines can become unreliable. Millimetre-wave radar is well suited to these conditions because it provides direct Doppler velocity sensing and remains robust to poor illumination, textureless scenes, and airborne particulates. However, conventional radar ego-velocity pipelines typically apply constant false alarm rate (CFAR) thresholding to convert dense radar spectra into sparse point clouds, prematurely discarding sub-threshold returns that may still retain useful Doppler motion cues. We present Dense Soft Weighting, an analytic radar front-end that maps every range-Doppler cell to a continuous confidence metric rather than enforcing a binary detection threshold. Ego-velocity is then estimated using a deterministic robust weighted least-squares formulation, while the same weighted measurements provide a closed-form, measurement-derived velocity covariance for integration with a shared inertial back-end. The method requires no platform-specific training data or learning-based uncertainty model, supporting transfer across single-chip radar configurations. Across two public datasets and one self-collected dataset, Dense Soft Weighting reduces mean absolute pose error by 31-45% relative to the strongest CFAR point-cloud baseline under an identical inertial back-end, while running in real time on embedded hardware.

Dual-Security for Indoor OFDM-ISAC Systems via Temporal Artificial Noise

With the rapid development of integrated sensing and communication (ISAC) as a key enabler for future wireless networks, ensuring the security of both communication and sensing functions has become increasingly important. Current secure ISAC studies focus restrictively either on the communication or the sensing security, but not both. To bridge this gap, this paper investigates security for both, i.e., dual-security, in indoor orthogonal frequency division multiplexing (OFDM) based ISAC systems. Specifically, we consider a scenario in which a sensing user (SU) is authorised for sensing but may eavesdrop on communication data, while a communication user (CU) is authorised for communication but may perform unauthorised sensing. We chose this scenario as the pathological case where an authorised eavesdropper has more information and is more effective than an unauthorised one. To address this case, we propose the use of temporal artificial noise (AN) to prevent malicious CU sensing by enlarging its time-domain sensing error, and simultaneously degrade SU data eavesdropping by reducing its frequency-domain signal-to-noise-plus-interference ratio (SINR) with standard OFDM receiver processing. Meanwhile, our proposed scheme guarantees the sensing performance of the SU and the communication performance of the CU. We present numerical results that demonstrate AN can effectively provide dual protection for sensing and communication in OFDM-ISAC systems while guaranteeing the performance of legitimate users.

Dual Security for MIMO-OFDM ISAC Systems: Artificial Ghosts or Artificial Noise

Integrated sensing and communication (ISAC) enables the efficient sharing of wireless resources to support emerging applications, but it also gives rise to new sensing-based security vulnerabilities. Here, potential communication security threats whereby confidential messages intended for legitimate users are intercepted, but also unauthorized receivers (Eves) can passively exploit target echoes to infer sensing parameters without users being aware. Despite these risks, the joint protection of sensing and communication security in ISAC systems remains unexplored. To address this challenge, this paper proposes a two-layer dual-secure ISAC framework that simultaneously protects sensing and communication against passive sensing Eves and communication Eves, without requiring their channel state information (CSI). Specifically, transmit beamformers are jointly designed to inject artificial noise (AN) to introduce interference to communication Eves, while deliberately distorting the reference signal available to sensing Eves to impair their sensing capability. Furthermore, the proposed design generates artificial ghosts (AGs) with fake angle-range-velocity profiles observable by all receivers. Legitimate receivers can suppress these AGs, whereas sensing Eves cannot, thereby significantly reducing their probability of correctly detecting the true targets. Numerical results demonstrate that the proposed framework effectively enhances both communication and sensing security, while preserving the performance of communication users and legitimate sensing receivers.