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Updated: Jun 27, 2026

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High-Accuracy Indoor Multiple-Extended-Target Tracking Algorithm Based on 60 GHz Millimeter-Wave Radar.

Bo Gao1, Jianzhong Chen2, Bo Huang1

  • 1College of Information and Control Engineering, Xi'an University of Architecture and Technology, Xi'an 710055, China.

Sensors (Basel, Switzerland)
|June 26, 2026
PubMed
Summary
This summary is machine-generated.

This study introduces a novel radar-based tracking algorithm for smart homes, overcoming visual sensor limitations. The new method accurately tracks multiple people indoors, ensuring privacy and reliability.

Keywords:
Density-Based Spatial Clustering of Applications with NoiseExtended Kalman FilterNearest-Neighbor Data Associationmillimeter-wave radarmultiple-extended-target tracking

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Area of Science:

  • Computer Science
  • Electrical Engineering
  • Robotics

Background:

  • Visual sensors in smart homes face challenges like poor lighting, occlusion, and privacy issues.
  • Frequency-modulated continuous-wave (FMCW) millimeter-wave radar offers a privacy-preserving alternative, unaffected by lighting or environmental changes.

Purpose of the Study:

  • To develop a high-accuracy tracking algorithm for multiple extended targets in cluttered indoor environments using FMCW radar.
  • To enhance the reliability and privacy of sensing solutions for smart homes and elderly care.

Main Methods:

  • An improved Density-Based Spatial Clustering of Applications with Noise (DBSCAN) algorithm was used for radar point cloud clustering.
  • An optimized Nearest-Neighbor Data Association (NNDA) scheme integrated clustering information for improved measurement matching.
  • An Extended Kalman Filter (EKF) was employed for state estimation of tracked targets.

Main Results:

  • The algorithm achieved tracking errors below 0.4 m in typical motion scenarios.
  • Continuous tracking was maintained during two-person crossing scenarios.
  • A 93.3% counting accuracy was reached in five-person scenarios, outperforming a commercial radar system.

Conclusions:

  • The proposed radar-based tracking algorithm provides a reliable and privacy-preserving sensing solution for smart homes, elderly care, and intelligent buildings.
  • The method effectively addresses the limitations of visual sensors in indoor environments.