A Radar-Based Human Activity Recognition Using a Novel 3-D Point Cloud Classifier

Zheqi Yu, Ahmad Taha, William Taylor, Adnan Zahid, Khalid Rajab, Hadi Heidari, Muhammad Ali Imran, Qammer H. Abbasi*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)
307 Downloads (Pure)


This article provides a new benchmark dataset for 3-D point cloud classification in which the manually labeled human activity data exceeds 100 point clouds per frame and is capable of meeting the training needs for data-intensive learning approaches. In this study, a case study is considered for evaluating the benchmark using a deep long short-term memory (LSTM) neural network, which demonstrated a significant performance improvement over the state-of-the-art human activity recognition (HAR) area. To date, numerous types of collection devices have been used in the recognition of human activities. However, due to the scarcity of training data, the task of 3-D point cloud labeling has not yet made significant progress. To overcome this challenge, it is aimed to deduce this data requirements gap, allowing deep-learning methods to reach their full potential in 3-D point cloud tasks. The dataset used for this process is comprised of dense point clouds acquired with the static ground sensor by the NodeNs company-supported multiple input multiple output (MIMO) radar (NodeNs ZERO 60 GHz IQ radar). It contains multiple types of human being data ranging from one to four individuals and encompasses a range of human action scenarios, including standing, sitting, picking up, falling, and walking. Furthermore, it also investigated sensor locations and requirements for human being data collection that is from a single subject to multiple subjects, as well as identified and analyzed various sensing devices and applications that collect activity data. In this regard, a thorough study is conducted on several benchmark datasets, examining sensors, characteristics, activity categories, and other data. Finally, it compares and analyzes the activity recognition methods used in several benchmark datasets based on the current study. Unlike existing devices, the new NodeNs sensor provides more accessible and straightforward point cloud data to capture human movement information. Depending on an advanced detection algorithm to process point cloud data, it achieved more than 95% accuracy on the benchmark dataset.

Original languageEnglish
Pages (from-to)18218-18227
Number of pages10
JournalIEEE Sensors Journal
Issue number19
Early online date17 Aug 2022
Publication statusPublished - 1 Oct 2022


  • Benchmark dataset
  • density-based spatial clustering of applications with noise (DBSCAN)
  • human activity recognition (HAR)
  • long short-term memory (LSTM)
  • NodeNs sensor

ASJC Scopus subject areas

  • Instrumentation
  • Electrical and Electronic Engineering


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