Tracking the Occluded Indoor Target with Scattered Millimeter Wave Signal
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A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä
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Date
2024
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en
Pages
11
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IEEE Sensors Journal, Volume 24, issue 22, pp. 38102-38112
Abstract
The popularity of mobile robots in factories, warehouses, and hospitals has raised safety concerns about human-machine collisions, particularly in nonline-of-sight (NLoS) scenarios such as corners. Developing a robot capable of locating and tracking humans behind the corners will greatly mitigate risk. However, most of them cannot work in complex environments or require a costly infrastructure. This article introduces a solution that uses the reflected and diffracted millimeter wave (mmWave) radio signals to detect and locate targets behind the corner. Central to this solution is a localization convolutional neural network (L-CNN), which takes the angle-delay heatmap of the mmWave sensor as input and infers the potential target position. Furthermore, a Kalman filter is applied after L-CNN to improve the accuracy and robustness of estimated locations. A red-green-blue-depth (RGB-D) camera is attached to the mmWave sensor as the annotation system to provide accurate position labels. The results of the experimental evaluation demonstrate that our data-driven approach can achieve remarkable positioning accuracy at the 10-cm level without extensive infrastructure. In particular, the approach effectively mitigates the adverse effects of diffraction and multibounce phenomena, making the system more resilient.Description
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Keywords
Cameras, Indoor positioning, Millimeter wave communication, Optical imaging, Optical sensors, Radar tracking, Robot sensing systems, Robots, angle-delay estimation, convolutional neural network, cross-modal training, frequency-modulated continuous-wave radar, nonline-of-sight tracking, robotics, Angle-delay estimation, nonline-of-sight (NLoS) tracking, convolutional neural network (CNN), indoor positioning, frequency-modulated continuous-wave (FMCW) radar
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Citation
Xu, Y, Wang, X, Kupiainen, J, Sae, J, Boutellier, J, Nurmi, J & Tan, B 2024, ' Tracking the Occluded Indoor Target with Scattered Millimeter Wave Signal ', IEEE Sensors Journal, vol. 24, no. 22, pp. 38102-38112 . https://doi.org/10.1109/JSEN.2024.3447271