Indoor Detection and Tracking of People Using mmWave Sensor

Algorithm 3

Data association: simplified GNN.

Steps:

(1) Calculate the distances between each old centroid (objects) and new centroid (observations) in popular coordinate system (e.g., d1, d2, d3, and d4). .

(2) Find the one with the global smallest distance from the total distances (e.g., d1).

(3) Associate the object with the new centroid linked by this distance (e.g., associate Track 2 and new centroid 1).

(4) Repeat steps 2-3 until all unassociated new centroids and objects are associated (e.g., associate Track 1 and new centroid 2).