volume | PIER Journals

2025-05-12

Online Targets Tracking and People Counting Using Multiple Distributed mmWave Radar Sensors

Uday Kumar Singh,

Dr. Uday Kumar Singh

Department of ECE

SRM Institute of Science and Technology

India

Homepage

Thipparaju Rama Rao

Dr. Thipparaju Rama Rao

Department of ECE

SRM Institute of Science and Technology

India

Homepage

Progress In Electromagnetics Research C, Vol. 155, 195-201, 2025

doi:10.2528/PIERC25021103 | Google Scholar

Abstract

With the growing use of radar sensors, particularly in surveillance applications, there is an increasing need for real-time target tracking, especially in areas such as counting people. This paper offers a detailed description of the hardware setup, which is paired with a proposed fusion algorithm and the multiple-target tracking (MTT) algorithm for online target tracking. The fusion techniques introduced in this work combine data from spatially distributed Texas Instruments mmWave radar sensors by utilizing the likelihood of radar measurements. These sensors measure the positions of the reflectors, which are then visualized through the Robot Operating System (ROS). To support real-time target tracking and people counting, a connection is established between the ROS network and MATLAB. Finally, the measurements are processed in MATLAB using the proposed fusion technique alongside the existing MTT algorithm to generate accurate target tracks, which also enable people counting.

Download Full Article (704) View Full Article volume

Citation

Copy Export

Uday Kumar Singh, and Thipparaju Rama Rao, "Online Targets Tracking and People Counting Using Multiple Distributed mmWave Radar Sensors," Progress In Electromagnetics Research C, Vol. 155, 195-201, 2025.
doi:10.2528/PIERC25021103

References

1. Richards, Mark A., Fundamentals of Radar Signal Processing, Vol. 1, McGraw-Hill New York, 2005.

2. Tugac, Serdar and Murat Efe, "Radar target detection using hidden Markov models," Progress In Electromagnetics Research B, Vol. 44, 241-259, 2012. Google Scholar

3. Blackman, S. S., "Multiple-target tracking with radar applications," Dedham, 1986. Google Scholar

4. Singh, Uday Kumar, Mohammad Alaee-Kerahroodi, and M. R. Bhavani Shankar, "RKHS based state estimator for radar sensor in indoor application," 2022 IEEE Radar Conference (RadarConf22), 01-06, New York City, NY, USA, Mar. 2022.

5. Jeong, Seong-Hee, Han-Yeol Yu, Jae-Eun Lee, Jun-Nam Oh, and Kwae-Hi Lee, "A multi-beam and multi-range radar with FMCW and digital beam forming for automotive applications," Progress In Electromagnetics Research, Vol. 124, 285-299, 2012. Google Scholar

6. You, He, Jianjuan Xiu, and Xin Guan, Radar Data Processing with Applications, John Wiley & Sons, 2016.

7. Bar-Shalom, Yaakov, Thomas E. Fortmann, and Peter G. Cable, "Tracking and data association," The Journal of the Acoustical Society of America, Vol. 87, No. 2, 918-919, 1990. Google Scholar

8. Leung, H., Zhijian Hu, and M. Blanchette, "Evaluation of multiple radar target trackers in stressful environments," IEEE Transactions on Aerospace and Electronic Systems, Vol. 35, No. 2, 663-674, 1999. Google Scholar

9. Livshitz, Michael, "Tracking radar targets with multiple reflection points," TI Internal Document, Texas Instruments, 2017. Google Scholar

10. Huang, Xu, Hasnain Cheena, Abin Thomas, and Joseph K. P. Tsoi, "Indoor detection and tracking of people using mmWave sensor," Journal of Sensors, Vol. 2021, No. 1, 6657709, 2021. Google Scholar

11. Texas Instruments, "IWR6843, IWR6443 Single-Chip 60 to 64 GHz mmWave Sensor datasheet," 2022.

12. Texas Instruments, "mmWave radar ROS node: Time sync of frames from multiple sensors," [Online]. Available: https://software-dl.ti.com/jacinto7/esd/robotics-sdk/08_06_00/docs/source/docs/multi_sensor_time_synchronization.html.

13. Singh, Uday Kumar, Mohammad Alaee-Kerahroodi, and M. R. Bhavani Shankar, "Implementation and validation of multiple target tracking technique for indoor applications," 2022 IEEE International Conference on Advanced Networks and Telecommunications Systems (ANTS), 219-224, Gandhinagar, Gujarat, India, Dec. 2022.