@INPROCEEDINGS{StreubelR16a:Fusion, AUTHOR="Roman Streubel and Bin Yang", TITLE="Fusion of Stereo Camera and {MIMO-FMCW} Radar for Pedestrian Tracking in Indoor Environments", BOOKTITLE="2016 19th International Conference on Information Fusion (FUSION) (FUSION 2016)", ADDRESS="Heidelberg, Germany", DAYS=4, MONTH=jul, YEAR=2016, KEYWORDS="heterogeneous sensor fusion; stereo-camera; upper body detection; foreground detection; disparity estimation; clustering; FMCW-radar; angle estimation; range estimation; tracking; Kalman-filter", ABSTRACT="In this paper, we present a fusion of stereo camera and radar targets to significantly improve the tracking of pedestrians indoors especially suited for surveillance and security applications. Indoor environments pose bigger challenges for pedestrian tracking compared to outdoor environments. This makes pedestrian tracking with only a camera or radar difficult. In this work, we demonstrate that in some preliminary experiments our fusion system increases the multiple object tracking accuracy (MOTA) from -16.7\% and 38.0\% for camera or radar only tracking to 90.9\% using a fusion of both. Furthermore, the proposed fusion system achieves a multiple object tracking precision (MOTP3D) of 90.3\% compared to 83.4\% and 81.8\% obtained via camera and radar only tracking, respectively."}
