Continuous Tracking of Indoor Human Targets Based on Millimeter Wave Radar

Abstract

The effect of target tracking based on millime-ter wave radar is susceptible to multi path effect and target crossover. Most existing methods are unsatisfactory in high-noise, complex environments. In contrast, we propose a method covering target positioning, tracking, and track re-association by using top-mounted millimeter-wave radar, achieving stable and accurate counting and tracking of multiple targets. First, a polar-coordinate- based tracking is performed using an extended Kalman filter with linear regression correction. Then, a density-based classification algorithm with group signal-to-noise ratio analysis is performed to remove ghost targets. In terms of the track fracture problem caused by the target intersection, we propose to use the Hankel matrix to solve this situation. Our experiments prove the robustness of the proposed method, which not only has a high tracking precision within O.lm but also successfully handles most target crossover situations considered. At the same time, in the cases within six people, the ratio between the number of frames in which personnel counting error is less than or equal to 1 and the total number of frames is more than 95%.