# MilliTRACE-IR: Contact Tracing and Temperature Screening via mm-Wave and Infrared Sensing

arXiv: https://arxiv.org/abs/2110.03979 · HTML: https://mlsanity.com/paper/2110.03979/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 14 of its 60 references that are in the map.
- First posted on arXiv 8 Oct 2021.

## Builds on (most cited first, 14 of 14)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [FaceNet: A Unified Embedding for Face Recognition and Clustering](https://mlsanity.com/paper/1503.03832/) (2015)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [WaveNet: A Generative Model for Raw Audio](https://mlsanity.com/paper/1609.03499/) (2016)
- [Deep Learning for Person Re-identification: A Survey and Outlook](https://mlsanity.com/paper/2001.04193/) (2020)
- [A Deep Learning-based Radar and Camera Sensor Fusion Architecture for Object Detection](https://mlsanity.com/paper/2005.07431/) (2020)
- [Learning Longterm Representations for Person Re-Identification Using Radio Signals](https://mlsanity.com/paper/2004.01091/) (2020)
- [DeepSOCIAL: Social Distancing Monitoring and Infection Risk Assessment in COVID-19 Pandemic](https://mlsanity.com/paper/2008.11672/) (2020)
- [The Visual Social Distancing Problem](https://mlsanity.com/paper/2005.04813/) (2020)
- [Real-time People Tracking and Identification from Sparse mm-Wave Radar Point-clouds](https://mlsanity.com/paper/2105.11368/) (2021)
- [COVID-Robot: Monitoring Social Distancing Constraints in Crowded Scenarios](https://mlsanity.com/paper/2008.06585/) (2020)
- [Inner Eye Canthus Localization for Human Body Temperature Screening](https://mlsanity.com/paper/2008.12046/) (2020)
- [Processing of body-induced thermal signatures for physical distancing and temperature screening](https://mlsanity.com/paper/2012.12042/) (2020)
- [Enabling and Emerging Technologies for Social Distancing: A Comprehensive Survey and Open Problems](https://mlsanity.com/paper/2005.02816/) (2020)

## Built on by (most cited first, 1 of 1)

- [Open-Set Gait Recognition from Sparse mmWave Radar Point Clouds](https://mlsanity.com/paper/2503.07435/) (2025)

## Abstract (arXiv)

Social distancing and temperature screening have been widely employed to counteract the COVID-19 pandemic, sparking great interest from academia, industry and public administrations worldwide. While most solutions have dealt with these aspects separately, their combination would greatly benefit the continuous monitoring of public spaces and help trigger effective countermeasures. This work presents milliTRACE-IR, a joint mmWave radar and infrared imaging sensing system performing unobtrusive and privacy preserving human body temperature screening and contact tracing in indoor spaces. milliTRACE-IR combines, via a robust sensor fusion approach, mmWave radars and infrared thermal cameras. It achieves fully automated measurement of distancing and body temperature, by jointly tracking the subjects's faces in the thermal camera image plane and the human motion in the radar reference system. Moreover, milliTRACE-IR performs contact tracing: a person with high body temperature is reliably detected by the thermal camera sensor and subsequently traced across a large indoor area in a non-invasive way by the radars. When entering a new room, a subject is re-identified among several other individuals by computing gait-related features from the radar reflections through a deep neural network and using a weighted extreme learning machine as the final re-identification tool. Experimental results, obtained from a real implementation of milliTRACE-IR, demonstrate decimeter-level accuracy in distance/trajectory estimation, inter-personal distance estimation (effective for subjects getting as close as 0.2 m), and accurate temperature monitoring (max. errors of 0.5degC). Furthermore, milliTRACE-IR provides contact tracing through highly accurate (95%) person re-identification, in less than 20 seconds.