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This paper concentrated on crowded indoor situations and presents a novel method for group tracking. First, the proposed alpha-extended Kalman filter and the group association were carried out, which can constantly estimate the target expansion and the number of reflection points, consequently modifying the measurement noise and covariance estimation. Then, to initialize the actual targets, we employed a density-based spatial clustering approach that includes false target suppression. After the targets have been updated, the track re-association and estimation procedure is conducted to account for the unanticipated break of moving and near-static targets. Finally, various experiments involving fewer than 11 participants were designed to assess the robustness of the method. As a result, continuous and steady tracking results, as well as high counting accuracy were obtained.<\/jats:p>","DOI":"10.3390\/rs15092425","type":"journal-article","created":{"date-parts":[[2023,5,5]],"date-time":"2023-05-05T08:12:11Z","timestamp":1683274331000},"page":"2425","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":20,"title":["A Robust Target Tracking Method for Crowded Indoor Environments Using mmWave Radar"],"prefix":"10.3390","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-0637-8338","authenticated-orcid":false,"given":"Meiqiu","family":"Jiang","sequence":"first","affiliation":[{"name":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China"}]},{"given":"Shisheng","family":"Guo","sequence":"additional","affiliation":[{"name":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China"},{"name":"Yangtze Delta Region Institute, University of Electronic Science and Technology of China, Quzhou 324000, China"}]},{"given":"Haolan","family":"Luo","sequence":"additional","affiliation":[{"name":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China"}]},{"given":"Yu","family":"Yao","sequence":"additional","affiliation":[{"name":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China"}]},{"given":"Guolong","family":"Cui","sequence":"additional","affiliation":[{"name":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China"},{"name":"Yangtze Delta Region Institute, University of Electronic Science and Technology of China, Quzhou 324000, China"}]}],"member":"1968","published-online":{"date-parts":[[2023,5,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/3432208","article-title":"Real-time arm gesture recognition in smart home scenarios via millimeter-wave sensing","volume":"4","author":"Liu","year":"2020","journal-title":"Proc. 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