Grouped Target Tracking and Seamless People Counting with a 24 GHz MIMO FMCW

The problem of radar-based tracking of groups of people moving together and counting their numbers in indoor environments is considered here. A novel processing pipeline to track groups of people moving together and count their numbers is proposed and validated. The pipeline is specifically designed to deal with frequent changes of direction and stop & go movements typical of indoor activities. The proposed approach combines a tracker with a classifier to count the number of grouped people; this uses both spatial features extracted from range-azimuth maps, and Doppler frequency features extracted with wavelet decomposition. Thus, the pipeline outputs over time both the location and number of people present. The proposed approach is verified with experimental data collected with a 24 GHz Frequency Modulated Continuous Wave (FMCW) radar. It is shown that the proposed method achieves 95.59% accuracy in counting the number of people, and a tracking metric OSPA of 0.338. Furthermore, the performance is analyzed as a function of different relevant variables such as feature combinations and scenarios.

Analysis of Processing Pipelines for Indoor Human Tracking using FMCW radar

In this paper, the problem of formulating effective processing pipelines for indoor human tracking is investigated, with the usage of a Multiple Input Multiple Output (MIMO) Frequency Modulated Continuous Wave (FMCW) radar. Specifically, two processing pipelines starting with detections on the Range-Azimuth (RA) maps and the Range-Doppler (RD) maps are formulated and compared, together with subsequent clustering and tracking algorithms and their relevant parameters. Experimental results are presented to validate and assess both pipelines, using a 24 GHz commercial radar platform with 250 MHz bandwidth and 15 virtual channels. Scenarios where 1 and 2 people move in an indoor environment are considered, and the influence of the number of virtual channels and detectors' parameters is discussed. The characteristics and limitations of both pipelines are presented, with the approach based on detections on RA maps showing in general more robust results.