A Robust Target Tracking Method for Crowded Indoor Environments Using mmWave Radar

Millimeter-wave-based extended target tracking has attracted extensive interest recently because of its privacy, high precision, and low cost. This paper concentrated on crowded indoor situations and presents a novel method for group tracking. First, the proposed alpha-extended Kalman filter and the group association were carried out, which can constantly estimate the target expansion and the number of reflection points, consequently modifying the measurement noise and covariance estimation. Then, to initialize the actual targets, we employed a density-based spatial clustering approach that includes false target suppression. After the targets have been updated, the track re-association and estimation procedure is conducted to account for the unanticipated break of moving and near-static targets. Finally, various experiments involving fewer than 11 participants were designed to assess the robustness of the method. As a result, continuous and steady tracking results, as well as high counting accuracy were obtained.

Automated summary

This paper presents a novel method for group tracking in crowded indoor situations using millimeter-wave-based extended target tracking. The proposed method includes alpha-extended Kalman filter and group association to estimate target expansion and reflection points. It also employs a density-based spatial clustering approach for target initialization and false target suppression. The method demonstrates continuous and steady tracking results with high counting accuracy in experiments involving fewer than 11 participants.