# Millimeter-Wave Radar Uses Doppler Information to Track Occluded Targets' Position and Velocity

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/nw8nlrqe2cb8xmezy21hljw0y
- Original: https://arxiv.org/abs/2610.34085

## Summary

The authors propose a method that uses millimeter-wave radar Doppler information to track non-line-of-sight occluded targets, achieving 8.95 cm position error and 1.75 cm/s velocity error on held-out trajectories. The study also releases the first indoor non-line-of-sight radar dataset, containing 576 sequences totaling 720,856 frames and covering 12 trajectories with different speeds, starting positions, and material configurations. The method models non-line-of-sight tracking as continuous position-velocity estimation, uses a shared 3D encoder to process the full range-azimuth-Doppler representation, and estimates position and velocity separately through two recurrent branches before fusing them into motion-consistent trajectories.