Interacting multi-model tracking algorithm using rest state model

A device comprising:

• a radar sensor comprising a transmitter configured to transmit radar signals towards a field-of-view of the radar sensor, a receiver configured to receive reflected radar signals from the field-of-view, wherein the radar sensor is configured to provide raw measurement data based on the reflected radar signals;
• and
• a processor configured to:
• generate depth data indicative of a time-resolved measurement of a 3-D position of a moveable target in the field-of-view based on the raw measurement data;
• and
• process the depth data using an interacting multi-model (IMM) tracking algorithm, the IMM tracking algorithm providing, for each one of multiple iterations, tracking data comprising a respective estimate of the 3-D position of the moveable target, wherein:
• the IMM tracking algorithm comprises a first model configured to provide a first output, a second model configured to provide a second output, and a fusion module configured to fuse the first output and the second output to provide the tracking data,
• the first model is configured to model a movement state of the moveable target,
• the second model is configured to model a rest state of the moveable target,
• the second model determines the second output based on the estimate of the 3-D position of the moveable target with respect to an input element of a user interface predefined within the field-of-view,
• the user interface comprises a plurality of input elements,
• the second output comprises an indication of a given input element of the plurality of input elements being addressed by the moveable target, and
• the tracking data comprises, at least for some of the multiple iterations, the indication of the given input element.