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*Department of Automation and Systems Technology, **Department of Radio Science and Engineering
Aalto University School of Science and Technology, Espoo, Finland, (e-mail: firstname.lastname@tkk.fi)
Abstract: In this paper, a radar based approach for pedestrian detection and tracking is presented. The
approach utilizes automotive radar for tracking the targets and a separate Doppler radar to provide extra
information about the classes of the targets. The classification of objects as humans is based on analysis
of the Doppler spectrum of targets as well as the speed of the targets gained through the tracking process.
The presented method is able to make a difference between a non-human target and a human target if the
human target is moving. At the moment the measurement platform needs to be stationary or move at very
low speed.
Keywords: Human detection, tracking, automotive radar, Doppler radar, spectrum analysis, filtering
6.1 Measurements
The two data sets analysed here are collected from a mine
and from a harbor with same measurement platform. Radars
were attached to an ATV enabling easy mobility of the
sensors. In addition, a stereo camera was attached to the
Fig. 4. Visualization of the fused data. Red dots represent measurement platform to produce image information from
targets classified as humans. the tests. The radar measurements were validated based on
the stereo camera data. The movements of the measurement
platform were recorded as well. Fig 6 shows a still picture
A photograph of the situation illustrated in the Fig 4 can be from the data set recorded in the mine. Similar image from
seen in the Fig 5. The left hand red dot in Fig 4 represents the the other data set is presented in Fig 5.
human up front in Fig 5 and the red dot on the right hand side
negative observations. All the information in the Table 1 is
also included in the Fig. 7 and Fig. 8.