# Interpersonal Distance Tracking with mmWave Radar and IMUs

arXiv: https://arxiv.org/abs/2303.12798 · HTML: https://mlsanity.com/paper/2303.12798/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 10 of its 50 references that are in the map.
- First posted on arXiv 28 Feb 2023.

## Builds on (most cited first, 10 of 10)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [FaceNet: A Unified Embedding for Face Recognition and Clustering](https://mlsanity.com/paper/1503.03832/) (2015)
- [A Point Set Generation Network for 3D Object Reconstruction from a Single Image](https://mlsanity.com/paper/1612.00603/) (2016)
- [Deep Cosine Metric Learning for Person Re-Identification](https://mlsanity.com/paper/1812.00442/) (2018)
- [RIDI: Robust IMU Double Integration](https://mlsanity.com/paper/1712.09004/) (2017)
- [IMUTube: Automatic Extraction of Virtual on-body Accelerometry from Video for Human Activity Recognition](https://mlsanity.com/paper/2006.05675/) (2020)
- [Multi-Person Continuous Tracking and Identification from mm-Wave micro-Doppler Signatures](https://mlsanity.com/paper/2003.03571/) (2020)
- [How Reliable is Smartphone-based Electronic Contact Tracing for COVID-19?](https://mlsanity.com/paper/2005.05625/) (2020)

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

- [mmJoints: Expanding Joint Representations Beyond (x,y,z) in mmWave-Based 3D Pose Estimation](https://mlsanity.com/paper/2510.08970/) (2025)

## Abstract (arXiv)

Tracking interpersonal distances is essential for real-time social distancing management and em ex-post contact tracing to prevent spreads of contagious diseases. Bluetooth neighbor discovery has been employed for such purposes in combating COVID-19, but does not provide satisfactory spatiotemporal resolutions. This paper presents ImmTrack, a system that uses a millimeter wave radar and exploits the inertial measurement data from user-carried smartphones or wearables to track interpersonal distances. By matching the movement traces reconstructed from the radar and inertial data, the pseudo identities of the inertial data can be transferred to the radar sensing results in the global coordinate system. The re-identified, radar-sensed movement trajectories are then used to track interpersonal distances. In a broader sense, ImmTrack is the first system that fuses data from millimeter wave radar and inertial measurement units for simultaneous user tracking and re-identification. Evaluation with up to 27 people in various indoor/outdoor environments shows ImmTrack's decimeters-seconds spatiotemporal accuracy in contact tracing, which is similar to that of the privacy-intrusive camera surveillance and significantly outperforms the Bluetooth neighbor discovery approach.