People Tracking with UWB Radar Using a Multiple-Hypothesis Tracking of Clusters (MHTC) Method

This paper presents a method to track multiple moving humans using Ultra-Wideband (UWB) radar. UWB radar can complement other human tracking technologies, as it works well in poor visibility conditions. Our tracking approach is based on a point process interpretation of the multi-path UWB radar scat...

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Bibliographic Details
Published inInternational journal of social robotics Vol. 2; no. 1; pp. 3 - 18
Main Authors Chang, SangHyun, Sharan, Rangoli, Wolf, Michael, Mitsumoto, Naoki, Burdick, Joel W.
Format Journal Article
LanguageEnglish
Published Dordrecht Springer Netherlands 01.03.2010
Springer Nature B.V
Subjects
Bayesian analysis
Clustering
Control
Engineering
Hypotheses
Mechatronics
Multiple target tracking
Radar scattering
Radar tracking
Robotics
Statistical inference
Tracks (paths)
Ultrawideband radar
Visibility
Tracking
Filtering
Multi-target tracking
Multiple hypothesis tracking
Human tracking
UWB radar
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Summary:This paper presents a method to track multiple moving humans using Ultra-Wideband (UWB) radar. UWB radar can complement other human tracking technologies, as it works well in poor visibility conditions. Our tracking approach is based on a point process interpretation of the multi-path UWB radar scattering model for moving humans. Based on this model, we present a multiple hypothesis tracking (MHT) framework for tracking the ranges and velocities of a variable number of moving human targets. The multi-target tracking (MTT) problem for UWB radar differs from traditional applications because of the complex multipath scattering observations per target. We develop an MHT framework for UWB radar-based multiple human target tracking, which can simultaneously solve the complex observation clustering and data association problems using Bayesian inference. We present experimental results in which a monostatic UWB radar tracks both individual and multiple human targets to estimate target ranges and velocities, even with changing numbers of targets across radar scans.
ISSN:1875-4791
1875-4805
DOI:10.1007/s12369-009-0039-x