Environment-aware Multi-person Tracking in Indoor Environments with MmWave Radars
Bibliographic record
Abstract
Device-free indoor localization and tracking using commercial millimeter wave radars have attracted much interest lately due to their non-intrusive nature and high spatial resolution. However, it is challenging to achieve high tracking accuracy due to rich multipath reflection and occlusion in indoor environments. Static objects with non-negligible reflectance of mmWave signals interact with moving human subjects and generate time-varying multipath ghosts and shadow ghosts, which can be easily confused as real subjects. To characterize the complex interactions, we first develop a geometric model that estimates the location of multipath ghosts given the locations of humans and static reflectors. Based on this model, the locations of static reflectors that form a reflection map are automatically estimated from received radar signals as a single person traverses the environment along arbitrary trajectories. The reflection map allows for the elimination of multipath and shadow ghost interference as well as the augmentation of weakly reflected human subjects in occluded areas. The proposed environment-aware multi-person tracking system can generate reflection maps with a mean error of 15.5cm and a 90-percentile error of 30.3cm, and achieve multi-person tracking accuracy with a mean error of 8.6cm and a 90-percentile error of 17.5cm, in four representative indoor spaces with diverse subjects using a single mmWave radar.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.001 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".