Fig. 1. Device hardware. (a) Device hardware platform; (b) physical pictures of device hardware

Fig. 2. Flowchart of device algorithm

Fig. 3. Flowchart of transmission line identification algorithm based on standard deviation clustering

Fig. 4. Flowchart of millimeter wave radar ranging algorithm based on improved robust Kalman filter

Fig. 5. Schematic of extracting the minimum distance of each frame

Fig. 6. Schematic of invalid target filtering

Fig. 7. Schematic of extracting the minimum distance of the whole second

Fig. 8. Transmission line identification results based on standard deviation clustering

Fig. 9. Experimental environment

Fig. 10. Schematic of static experiment

Fig. 11. Static experimental data. (a) Original data; (b) data processed by the ranging algorithm

Fig. 12. Schematic of dynamic experiment. (a) Vertical reciprocating motion; (b) horizontal reciprocating motion

Fig. 13. Vertical dynamic experimental data. (a) Original data; (b) data processed by the ranging algorithm

Fig. 14. Horizontal dynamic experimental data. (a) Original data; (b) data processed by the ranging algorithm

Fig. 15. Fusion experiment of millimeter wave radar ranging and visual recognition. (a) Fusion diagram; (b) analysis of experimental data