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This research aims to develop a high-accuracy tracking algorithm for multiple extended targets using millimeter-wave radar in indoor settings.

June 17, 2026SensorsOpen Access

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

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Randomized trial tests a new tracking algorithm in cluttered indoor environments, suggesting improved accuracy and privacy for smart homes.

This research aims to develop a high-accuracy tracking algorithm for multiple extended targets using millimeter-wave radar in indoor settings.
Proposes an improved Density-Based Spatial Clustering of Applications with Noise (DBSCAN) algorithm with velocity and spatial constraints.
Implements an optimized Nearest-Neighbor Data Association (NNDA) scheme to enhance measurement tracking accuracy.
Utilizes an Extended Kalman Filter (EKF) for estimating the state of each target based on associated radar measurements.
Achieves tracking errors below 0.4 m in typical motion scenarios.
Maintains continuous tracking during two-person crossing scenarios.
Reaches 93.3% counting accuracy in five-person scenarios, outperforming existing systems.

Gao et al. (2026) studied this question.

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Randomized trial tests a new tracking algorithm in cluttered indoor environments, suggesting improved accuracy and privacy for smart homes.