Indoor Detection and Tracking of People Using mmWave Sensor

Algorithm 1

Clustering: DBmeans.

Parameters:

 maxDistance- the largest searching distance

 minClusterSize- the minimum number of points to classify as a cluster

Steps:

(1) Set the maxDistance and minClusterSize parameters for the clustering algorithm.

(2) Randomly select a point that has not been marked a cluster or been designated as an outlier (noise).

(3) Compute its neighborhood to determine if it is a core point. If yes, start a cluster around this point.

 If no, mark the point as an outlier.

(4) If is a core point, a cluster is formed, expand the cluster by adding all directly reachable points to the cluster.

(5) If an outlier is added, change that point’s status from outlier to border point.

(6) Repeat steps 2-5 until all points are either assigned to a cluster or designated as an outlier.

(7) Calculate the mean of each cluster.