Journal of Applied Science and Engineering

Published by Tamkang University Press


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Wei Huang1,2,3, Zhen Zhang1,2,3, Wentao Li1,2 and Jiandong Tian This email address is being protected from spambots. You need JavaScript enabled to view it.1,2

1State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, P.R. China
2Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, P.R. China
3University of Chinese Academy of Sciences, Beijing 100049, P.R. China


Received: December 25, 2017
Accepted: May 2, 2018
Publication Date: December 1, 2018

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Research in moving object tracking has shown significant progress towards application in recent years. However, single sensors suffer from illumination variations for the vision sensor and low directional resolution for the radar. In this paper, we propose a moving object tracking method that fuses radar and vision data. First, false radar objects are filtered out. Second, an adaptive background subtraction method is used to detect candidate regions in images. Finally, moving objects are determined when the effective radar objects are in the candidate regions.

Keywords: Moving Object Tracking, Sensor Fusion, Adaptive Background Subtraction, Millimeter-wave Radar, Vision Sensor


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