Semantic segmentation is a process of partitioning an image into multiple segments for recognizing humans and objects, which can be widely applied in scenarios such as healthcare and safety monitoring. To avoid privacy violation, using RF signals instead of an image for human and object recognition has gained increasing attention. However, human and object recognition by using RF signals is usually a passive signal collection and analysis process without changing the radio environment, and the recognition accuracy is restricted significantly by unwanted multi-path fading, and/or the limited number of independent channels between RF transceivers in uncontrollable radio environments. This paper introduces MetaSketch, a novel RF-sensing system that performs semantic recognition and segmentation for humans and objects by making the radio environment reconfigurable. A metamaterial surface is incorporated into MetaSketch and diversifies the information carried by RF signals. Using compressive sensing techniques, MetaSketch reconstructs a point cloud consisting of the reflection coefficients of humans and objects at different spatial points, and recognizes the semantic meaning of the points by using symmetric multilayer perceptron groups. Our evaluation results show that MetaSketch is capable of generating favorable radio environments and extracting exact point clouds, and labeling the semantic meaning of the points with an average error rate of less than 1% in an indoor space.
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