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Radar for indoor surveillance: state of

art and perspectives

G. Gennarelli, F. Soldovieri, M. Amin

G. Gennarelli, F. Soldovieri, M. Amin, "Radar for indoor surveillance: state of

art and perspectives," Proc. SPIE 11059, Multimodal Sensing: Technologies
and Applications, 1105903 (21 June 2019); doi: 10.1117/12.2527660

Event: SPIE Optical Metrology, 2019, Munich, Germany

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 Invited Paper

Radar for indoor surveillance: state of art and perspectives

G. Gennarelli a, F. Soldovieri *a, M. Amin b
a
Institute for Electromagnetic Sensing of Environment, National Research Council,
Via Diocleziano 328, Napoli, 80124 Italy;
b
Center for Advanced Communications Villanova University,
800 Lancaster Avenue, Villanova, PA, USA 19085

ABSTRACT

Through wall indoor surveillance and monitoring is an emerging area of research and developments in many real-life
applications, including security and search and rescue. In this context, it is important to deploy remote sensors able to
glean information about the presence of people in indoor areas. Radar devices based on the exploitation of
electromagnetic signals represent an attractive sensing modality. When operating at frequencies from hundreds of MHz
to few GHz, they are capable to penetrate common construction materials enabling the detection of people in
inaccessible environments. Two different types of surveillance radars are considered in this paper. The first one exploits
the synthetic aperture concept with the aim to detect, locate, and track multiple subjects in the scene. The second one
illuminates the scene from a fixed position and exploits the Doppler effect. Despite the limited information available
with respect to aperture radars, Doppler radars allow the detection of moving targets behind walls and inside enclosed
structures. This work presents a brief overview of recent developments in the field of radar data processing for indoor
monitoring together with their assessment by means of numerical and experimental tests.

Keywords: indoor monitoring, radar systems, surveillance.

1. INTRODUCTION
Radar imaging is a broad research topic underpinning any sensing operation seeking detection, localization and tracking
of targets, including gleaning knowledge of target response to an incident electromagnetic signal [1]. Therefore, radar
imaging using remote sensing is key to indoor surveillance where humans represent the target of interest.
The primary goal of radar imaging is to obtain information about the target location and geometry by means of an
aperture radar (either synthetic or physical). The radar illuminates the scene and collects the signals scattered by the
target. This goal involves applying specific data processing algorithms that process the input raw radar backscattering
signals and produce an output image of the scene. This image should be easily interpretable, permitting target
recognition and characterization.
The radar imaging literature is extensive and provides numerous signal processing algorithms, which have appeared in
different applicative contexts such as Synthetic Aperture Radar (SAR) [2], Through-Wall Radar (TWR) [3], Ground
Penetrating Radar (GPR) [4], biomedical imaging [5], etc.
The imaging or focusing algorithms can be broadly classified into beamforming, or matched filtering, and inverse
filtering methods [6]. Beamforming schemes [7]-[10] perform imaging by compensating the phase or the delay of the
scattered field with a proper spatially varying filter, similar to the approaches applied in seismic exploration. On the
other hand, inverse filtering methods are more rigorous in that they are based on the electromagnetic (EM) modeling of
the wave scattering phenomenon, and invert the mathematical relationship between the scattered field data and the
unknown EM properties of the target [11]-[12]. This relationship depends on the target nature (dielectric, metallic), the
radar imaging configuration, and the operating scenario. Additionally, the inverse filtering methods are characterized by
a large flexibility in dealing with unconventional measurement configurations, such as multi-bistatic and multi-
view/multi-static sensor deployment, as well as scenarios different from the free-space assumption. Furthermore, sparse
reconstruction approaches based on the compressive sensing paradigm have recently attracted considerable attention due
to their superior super resolution performance and ability to deal with incomplete data measurements [13].

Multimodal Sensing: Technologies and Applications, edited by Ettore Stella,

Shahriar Negahdaripour, Dariusz Ceglarek, Christian Möller, Proc. of SPIE Vol. 11059
1105903 · © 2019 SPIE · CCC code: 0277-786X/19/$21 · doi: 10.1117/12.2527660

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 Most focusing algorithms are based on linearized models of the EM scattering phenomenon. The choice to use a linear
model allows overcoming the typical issues of non-linear inversion methods, such as avoiding false solutions and
convergence problems [14], providing qualitative reconstructions of the targets with relatively fast computations
consistent with complex scenes and real-time processing requirements. On the other hand, linear models account only for
the direct scattering events and neglect the mutual interactions between targets. If multipath is not reliably accounted by
the inverse EM model, the resulting radar images are affected by false targets (ghosts) appearing at locations where no
physical objects exists. This problem has been addressed in [15] where data processing strategies were proposed.
The second sensing modality is based on the use simple portable radar devices that illuminate the scene from a fixed
position and exploit the Doppler information. Unlike aperture radars, it is no longer possible to obtain an image of the
scene due to the lack of spatial diversity in the data. However, as will be shown, Doppler information can be used to
enable real-time detection of human targets behind walls and inside enclosed structures [16]-[21]. Such information is
sufficient to provide situation awareness of the scene in many practical situations.
This work deals with an overview of relevant applications of radar sensing for indoor surveillance. The focus is on data
processing for both aforementioned types of radars. Numerical and experimental results are presented to validate the
effectiveness of these systems under conditions resembling realistic scenarios.

2. RADAR IMAGING
This Section presents recent advances in the indoor surveillance in relation to state of art radar imaging approaches. It is
divided into subsections relative to different scenarios arising in the context of indoor surveillance.
The 2D geometry depicted in Fig. 1 is important to present the radar imaging problem from a general perspective. As can
be seen, an indoor scene comprising stationary and moving targets is probed by an aperture array (synthetic or physical)
of transmitting (Tx) and receiving (Rx) antennas. At any measurement point, the Tx antenna emits a wideband pulse in
the radar frequency band and the Rx antenna records the signal scattered by the targets. When the Tx and Rx antennas
are located at the same point or have a negligible spatial offset in terms of wavelength, the measurement configuration is
denoted as multimonostatic/multifrequency. A more sophisticated configuration is the multiview/
multistatic/multifrequency or Multiple Input Multiple Output (MIMO), where Tx and Rx are located at different
positions and are moved independently of each other.
Once the radar signals have been collected, a suitable data processing is needed to extract pertinent information (target
detection, position, size, etc.). It is necessary to process the data so as to filter unwanted clutter signals that are not
produced by the targets of interest (e.g. direct coupling from Tx to Rx, wall reflections, multipath, etc.). It is also
necessary to process the data in such way to obtain well-focused images that reproduce the scene accurately and reliably.
Regardless of the mathematical formulation of the sensing phenomenon, the imaging task amounts to determine an
unknown function accounting for target reflectivity from scattered field data. These aspects will be discussed in the
following subsections in relation to the radar imaging configurations that are relevant to indoor surveillance.

Fig. 1. Geometry of the radar imaging problem

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 2.1 Through Wall Radar
Through Wall Radar Imaging (TWRI) is a relatively recent active EM sensing modality that has been proposed for
homeland security (counterterrorism and urban warfare), search and rescue missions in natural disasters, and crisis
scenario management. A TWR emits a wideband EM pulse that propagates through an obstacle (a wall) and a back-
scattered field is produced by the targets in the scene. Such a field propagates through the obstacle and is detected by the
radar (see Fig. 2). One of the main parameters of the radar is the frequency band, typically ranging from some hundreds
MHz to few GHz. The operating frequency has to be sufficiently low for penetrating common building materials and, at
the same time, it has to be sufficiently high to ensure an adequate range and cross range resolution [3]. An important
factor affecting the reliability of TWR imaging approaches is the presence of the wall, which attenuates and modifies the
electromagnetic signal propagation. Firstly, there is a need to mitigate the clutter introduced by the (multiple) reflections
inside the wall that can induce reverberations in the received signal, overwhelming the signal backscattered from real
targets. Furthermore, the geometrical and electromagnetic properties of the wall have to be known or properly estimated
to achieve a well-focused image of the scene free of artifacts and distortions.

Fig. 2. Through wall radar imaging scenario

Common approaches to filter front-wall reflections are the background removal [3], the spatial filtering [22], and the
subspace wall projections [23]. A comparison between different front-wall clutter rejection methods has been reported in
[24].
A large amount of research work has been done on focusing algorithms. The most popular class of imaging approaches
exploits the beamforming strategy [7]-[10], which represents the first attempt towards TWRI. Basically, the
beamforming determines the complex image value at any point in the scene by passing the received signal through a
filter matched to the transmitted pulse.
Another important class of TWRI approaches is based on the EM inverse scattering methods such as the non-linear
tomographic approach [25] and the linear inverse scattering techniques based on the diffraction tomography [26] and
Microwave Tomography (MT) [27], [28]. The aforementioned imaging methods hold for homogenous slab walls, and
their effectiveness has been experimentally assessed. The extension of linear inverse scattering approaches to more
complicated scenarios involving inhomogeneous cinderblock walls [29], [30] and building corners [31] has been
reported as well.
Former studies highlight that an accurate modeling of the EM scattering phenomenon is necessary to obtain images free
from artifacts and distortions. One issue affecting the reliability of TWRI is the inaccurate information of the
electromagnetic properties of the wall. Therefore, signal-processing strategies addressing this issue have been developed.
An autofocusing technique, based on higher order statistics, was presented to correct for errors under unknown walls
[32]. A simple procedure to estimate the wall transmission coefficient for symmetric lossless walls was introduced and
validated by synthetic data in [33]. A two-step imaging procedure was presented in [28], where the thickness and the
dielectric permittivity of the wall were first estimated taking into account that actual measurements (i.e., the field
reflected by the wall plus the one scattered by the obscured scatterers). The problem was then cast as a linear inverse
scattering one and solved by means of the Truncated Singular Value Decomposition algorithm. The high-frequency EM
characterization of through-wall building imaging was presented in [34].

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 Another class of focusing algorithms is based on sparse reconstruction approaches or the compressed sensing paradigm
[35]-[40]. These approaches allow obtaining super-resolved images of the scene and reducing the amount of data
measurements; however they are generally more computationally demanding and less robust to noise and model errors
compared to linear inversion approaches [39], [40].
Below, we show the results of a TW experiment carried out in controlled conditions at IREA-CNR. The measurement
set-up, the scene and imaging result are illustrated in Figures 3a, 3b and 3c, respectively. Two static subjects are located
beyond a plasterwood wall with thickness 12cm at a distance of 30cm from it. The TW radar used for the experiments is
manufactured by IDS Corporation and works in time the domain with a single polarization antenna pair at the central
frequency of 2 GHz. A synthetic aperture of length 150cm is produced by moving manually the radar probe at the air-
wall interface. The data are gathered with a spatial step of 2 cm along the horizontal direction (x-axis) into a time
window of 32 ns, which is sampled by 512 time samples spaced of 0.0625 ns. The raw data are pre-processed setting the
time zero in correspondence of the interface (z=0), and a time gating procedure is performed to eliminate the direct
coupling between Tx and Rx antennas. The time domain data are then transformed to the frequency domain. In the
imaging procedure, we consider the frequency range [1000, 2500] MHz sampled with a step of 107 MHz. The relative
dielectric permittivity of the wall is assumed equal to 3, and a rectangular domain of [0, 150] × [10, 100] cm is
considered as the investigation region. The discretization steps along the x and z directions are fixed to 4.8 cm. The data
processing is carried out using a linear MT approach accounting for signal propagation through the wall and based on the
Truncated Singular Value Decomposition (TSVD) algorithm [27]. The truncation index of TSVD is chosen in such a
way to neglect the singular values that are 15 dB lower than the maximum one. The tomographic image achieved in this
case is reported in Fig. 3c and clearly shows the system capability to detect and identify the correct position of the two
subjects that are represented by the bright spots.

(a) (b) (c)

Fig. 3. Through wall radar imaging scenario. Measurement set-up (a). TW scene (b). Tomographic reconstruction (c).

The imaging process is followed by higher-level signal processing operations. These include automatic target detection
[41], classification [42] and tracking [43]. The tracking of moving targets in a TW scenario has received little attention.
Indeed, the identification of moving targets has been mostly performed by change detection schemes based on the
coherent or incoherent subtraction of radar data/images [44]-[46]. However, target tracking is a complex and more
informative process that involves the automatic estimation of the dynamics (position and velocity) of one or more
targets. In this respect, a multiple extended target tracking procedure for real-time operation was reported in [43]. The
first stage of the technique regards a preprocessing of raw data and the image formation process, which is performed
according to a linear MT approach. Then, each tomographic image is given as input to an object detector, constituted by
a Constant False Alarm Rate (CFAR) detector followed by a segmentation procedure. The detected objects are processed
according to the Joint Probabilistic Data Association (JPDA) rule. The proposed tracking approach has been assessed in
single-target and multi-target TW scenarios pointing out how shadowing and mutual interactions effects can unavoidably
degrade the reliability of tracking results.

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 2.2 Passive Multistate Radar
Passive multistatic radars are attractive for surveillance due to their low cost, covertness, anti-jam, and effective
exploitation of opportunistic sources. In urban environments, these sources can be in proximity of the targets (e.g. Wi-Fi,
cell-phone base stations, etc.). The signals produced by these sources are scattered by the targets and collected by a
receiver or multiple receivers operating in a multistatic mode. Passive radars differ from active radars in that they operate
with narrow frequency bands as dictated by the radiation modalities of the opportunistic sources. Moreover, they are
generally characterized by a lower signal-to-clutter ratio.
Various detection and localization algorithms processing different types of information (time of arrival, direction of
arrival, received signal strength, etc.) have been developed for passive multistatic radars [47]-[49].
A MT approach for passive multistatic radars has been proposed in [50] in the 2D case and later extended to the 3D case
[51]. The approach assumes that narrow band sources illuminate the scene and the field scattered by the targets is
collected by a passive array of receivers. The imaging problem is formulated as the reconstruction of the secondary
sources (currents induced on the targets under the incidence of the field radiated by non-cooperative sources) and is cast
as an inverse source problem. In this way, the only information needed about the source is the operating frequency.
However, blinding effects due to the primary sources and a dramatic loss of range resolution are crucial issues to be
tackled. To solve these problems, a multi-array change detection strategy has been adopted since change detection allows
removing the static clutter and the primary source contribution. The multi-array strategy instead allows partially
compensating for the resolution loss dictated by the narrow bandwidth operation.
In order to show the operation of the passive radar imaging approach, we report the results of a numerical experiment
involving an indoor scenario. A moving target and a static target are located in a room and illuminated by an
opportunistic RF source operating at 2.45 GHz to mimic a Wi-Fi access point. The total field is collected by two passive
arrays of receivers deployed outside the room. The tomographic images in Fig. 4 are obtained applying the multi-array
change detection procedure. Each image is referred to as a specific position of the moving target along its trajectory (L-
shaped). It can be observed that the images are very clean and informative because the stationary target (bigger circle) is
suppressed and the moving target (smaller circle) can be localized reliably along its trajectory.

Fig. 4 Tomographic images obtained with the passive multi-array change detection procedure.

3. DOPPLER RADAR SENSING

In spite of the notable advances in radar imaging technology, most systems are complex, expensive, and bulky due to the
need to achieve adequate performance in terms of spatial resolution [52]. However, in security applications, it may be

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 sufficient to obtain situation awareness about the scene simply by detecting human presence. In these cases, portable and
low-cost Doppler radars [53] constitute a very attractive solution, also for other real-life applications such as the ambient
assisted living and elderly care where radar signatures can be exploited to recognize human gait [54], [55] and monitor
the movements of elderly subjects in smart homes with the aim to detect falls [56]-[58].
Continuous Wave (CW) Doppler radars represent a simple solution for indoor surveillance [53], [59]. They operate at
fixed frequency (no ranging capability) and exploit the Doppler effect produced by the relative motion between the
targets and the radar. Specifically, large body movements (e.g. walking) and tiny physiological movements of human
chest wall related to breathing and cardiac activity modulate the phase of the radar signal producing periodic patterns.
Therefore, after a suitable data processing, it is possible to detect the presence of static or moving subject in the
surveillance area based on Doppler information.
The basic architecture of a CW Doppler radar is depicted in Fig. 5a. A microwave source generates the CW signal that is
partly transmitted by the antenna and partly used to form two reference signals with ninety degrees phase offset, which
are applied to demodulate the received signal. On reception, the signal is down-converted to baseband over the in-phase
(I) and quadrature (Q) channels producing two low frequency signals I(t) and Q(t) that are digitized and stored on a
processing unit (computer), where they are processed to retrieve useful information for surveillance purposes. Various
schemes have been proposed to demodulate I(t) and Q(t). A very simple yet effective strategy consists of processing the
signal with stronger variability (higher standard deviation) [59].
A small size CW Doppler radar for real-time human detection has been designed and developed at IREA-CNR (Fig. 5b).
The system generates a radio signal at 2.4 GHz thanks to a voltage-controlled oscillator. The RF circuitry, the power
supply section and the baseband analog circuitry are integrated on a double layer PCB. The baseband I and Q signals are
digitized by using a commercial data acquisition board. The whole system is connected via USB to a laptop, which
allows controlling the system as well as performing a real-time signal processing. The radar has a coverage range of
around 20m with a transmitted power of 10 dBm.

(a) (b)
Fig. 5 Architecture of a CW Doppler radar (a). Radar prototype developed at IREA-CNR (b).

A data processing strategy for occupancy sensing has been implemented based on the time varying analysis of the
standard deviation of the signal. Specifically, the standard deviation of the signal over a sliding window is compared to a
threshold value. If the standard deviation is higher than the threshold, the system generates a binary output equal to 1 to
indicate that someone is present in the scene. Conversely, if the standard deviation is lower than the threshold the system
produces an output equal to zero to inform that nobody is present. The threshold value is estimated from calibration
measurements and in particular from the standard deviation of the radar signal in the case of empty scene, since this
parameter provides a reasonable estimate of the system noise level.
An experiment was carried out in the indoor scenario shown in Fig. 6a featuring a corridor 20m long, and the radar was
installed at the beginning of it to detect the presence of human target. The duration of the radar acquisition was 180s. Fig.
6b shows that the raw radar signal exhibits strong fluctuations that are produced by the walking subject. The entity of
these fluctuations depends on the distance between the target and the radar. The numerical data plotted in Fig. 6c display

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 the output of the detection algorithm. It is evident from the graph that, apart from a small processing delay due the
window duration (2s), the detections are consistent with the raw data since the 1 values occur in correspondence of the
strong signal variations, while the 0 values arise where the raw signal is essentially flat. This result assesses the
capability of Doppler radar for human detection in indoor environments.

Figure 6. Radar installation in the corridor (a). Raw signal (b) and detection output (c).

4. CONCLUSIONS
This paper provided a short overview of theoretical and practical aspects of radar imaging and in particular of data
processing algorithms. These algorithms provide an image of the scene under investigation, which is informative and
much more easily interpretable than the raw data. Radar imaging systems specific to security applications such as
through-wall radar and passive multistatic radars were presented. The paper reported numerical/experimental tests to
demonstrate radar operations and highlight their imaging potentials. Moreover, radar devices based on the exploitation of
Doppler information were presented as a low-cost effective tool for indoor surveillance. These sensors provide a simple
information for situation awareness of the scene, yet they are very suited for integration and fusion into multimodal
surveillance systems comprising different sensing technologies (RGB cameras, thermal cameras, etc.) to enable
enhanced surveillance.

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image reconstruction,” IEEE Transactions on Geoscience and Remote Sensing, 51 (2), 891-906, (2013).
[38] Wang, X., Li, G., Liu Y., and Amin, M. G., “Two-level block matching pursuit for polarimetric through-wall
radar imaging,” IEEE Transactions on Geoscience and Remote Sensing, 56 (3), 1533-1545, (2018).
[39] M. G. Amin, Compressive Sensing for Urban Radar, CRC Press, 2014
[40] Y. Yoon and M. G. Amin, “Through-the-wall radar imaging using compressive sensing along temporal
frequency domain,” Proceedings of the IEEE International Conference on Acoustics, Speech and Signal
Processing, Dallas, TX, March 2010
[41] Debes, C., Amin, M. G., and Zoubir, A. M. “Target detection in single and multiple-view through-the-wall
radar imaging,” IEEE Transactions on Geoscience and Remote Sensing, 47 (5), 1349–1361, (2009).
[42] Debes, C., Hahn, J., Zoubir, A. M., and Amin, M. G. “Target discrimination and classification in through-the-
wall radar imaging,” IEEE Transactions Signal Processing, 59 (10), 4664–4676, (2011).
[43] Gennarelli, G., Vivone, G., Braca, P., Soldovieri, F., Amin, M. G. “Multiple extended target tracking for
through-wall radars,” IEEE Transactions on Geoscience and Remote Sensing, 53 (12), 6482-6494, (2015).
[44] Soldovieri, F., Solimene, R., and Pierri, R. “A simple strategy to detect changes in through the wall imaging”,
Progress In Electromagnetics Research, vol. 7, 1-13, (2009).
[45] Amin, M. G., and Ahmad, F. “Change detection analysis of humans moving behind walls,” IEEE Trans.
Aerosp. Electron. Syst., 49 (3), 1410–1425, (2013).
[46] Martone, A. F., Ranney, K., and Le, C. “Noncoherent approach for throughthe-wall moving target indication,”
IEEE Transaction Aerospace Electronic Systems, 50 (1), 193–206, (2014).
[47] Chetty, K., Smith, G. E., and Woodbridge, K., “Through-the-wall sensing of personnel using passive bistatic
WiFi radar at standoff distances,” IEEE Trans. Geosci. Remote Sens., 50 (4), 1218–1226, (2012).
[48] Colone, F., Falcone, P., Bongioanni, C., and Lombardo, P. “WiFi-based passive bistatic radar: data processing
schemes and experimental results,” IEEE Transaction Aerospace Electronic Systems, 48 (2), 1061–1079,
(2012).
[49] Chalise, B. K., Zhang, Y. D., Amin, M. G., and Himed, B. “Target localization in a multi-static passive radar
system through convex optimization,” Signal Processing, 102, 207–215, (2014).
[50] Gennarelli, G., Amin, M. G., Soldovieri, F., and Solimene, R. “Passive multiarray image fusion for RF
tomography by opportunistic sources”, IEEE Geoscience and Remote Sensing Letters, 12 (3), 641-645, (2014).
[51] Gennarelli, G., Solimene, R., Soldovieri, F., and Amin, M. G., “Three-dimensional through-wall sensing of
moving targets using passive multistatic radars”, IEEE Journal of Selected Topics in Applied Earth
Observations and Remote Sensing, 9 (1), 141-148, (2015).
[52] Ralston, S. T., Charvat, G. L., and Peabody, J. E. “Real-time through-wall imaging using an ultrawideband
multiple-input multiple-output (MIMO) phased array radar system,” Proc. IEEE Int. Symp. Phased ARRAY
Syst. Technol., 2010.
[53] Li, C., and Lin, J. [Microwave non-contact motion sensing and analysis], Wiley, (2014).
[54] Wang, Y., and Fathy, A. E. “Micro-Doppler signatures for intelligent human gait recognition using a UWB
impulse radar,” Proc. IEEE Int. Symp. Ant. Propag., (2011).

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 [55] Seifert, A. K., Zoubir, A. M., & Amin, M. G. “Radar classification of human gait abnormality based on sum-of-
harmonics analysis” IEEE Radar Conference (RadarConf18), 0940-0945, (2018).
[56] M. G. Amin, Editor, Radar for Indoor Monitoring: Detection, classification, andd Assessment,CCRC Press,
2017
[57] Q. Wu, Y. D. Zhang, W. Tao, and M. G. Amin, “Radar-based fall detection based on Doppler time-frequency
signatures for assisted living,” IET Radar, Sonar and Navigation, vol. 9, no. 2, pp. 173-183, February 2015.
[58] Ahmad, F., Narayanan, R. M., Schreurs, D. “Special Issue on application of radar to remote patient monitoring
and eldercare,” IET Radar, Sonar & Navigation, 9 (2), 115-115, (2015).
[59] Gennarelli, G., Ludeno, G., & Soldovieri, F., “Real-time through-wall situation awareness using a microwave
Doppler radar sensor”, Remote Sensing, 8 (8), 621, (2016).

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