Event
Millimeter-Wave Radar Achieves Non-Line-of-Sight Target Tracking
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Yerin Cheon, Kush Garg, and Akshat Dave propose a method that uses millimeter-wave radar Doppler information to track occluded targets, modeling non-line-of-sight tracking as continuous position-velocity estimation: a shared 3D encoder processes the full range-azimuth-Doppler representation, and then two recurrent branches separately estimate position and velocity and fuse them. The authors report that the method achieves 8.95 cm position error and 1.75 cm/s velocity error on held-out trajectories, and generalizes to unseen scenarios involving moving people. The work also releases what the authors call the first indoor non-line-of-sight radar dataset, containing 576 sequences totaling 720,856 frames, covering a mobile robot moving along 12 trajectories under different speeds, starting positions, and material configurations, with sequence radar measurements paired with synchronized position and velocity ground truth.
Report timeline
- Millimeter-Wave Radar Uses Doppler Information to Track Occluded Targets' Position and Velocity
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.
arXiv cs.RO ·