Extending reliability of mmwave radar tracking and detection via fusion with camera

Renyuan Zhang, Siyang Cao

Research output: Contribution to journalArticlepeer-review

45 Scopus citations


In this paper, a new radar-camera fusion system is presented. The fusion system takes into consideration the error bounds of the two different coordinate systems from the heterogeneous sensors, and further a new fusion-extended Kalman filter is utilized to adapt to the heterogeneous sensors. Real-world application considerations such as asynchronous sensors, multi-target tracking and association are also studied and illustrated in this paper. Experimental results demonstrated that the proposed fusion system can realize a range accuracy of 0.29m with an angular accuracy of 0.013rad in real-time. Therefore, the proposed fusion system is effective, reliable and computationally efficient for real-time kinematic fusion applications.

Original languageEnglish (US)
Article number8844649
Pages (from-to)137065-137079
Number of pages15
JournalIEEE Access
StatePublished - 2019


  • Error bounds
  • Fusion-EKF
  • Homography estimation
  • Kalman filtering
  • Millimeter wave radar
  • Multi-target tracking
  • Multisensor systems
  • Sensor fusion

ASJC Scopus subject areas

  • General Computer Science
  • General Materials Science
  • General Engineering


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