A method for detecting the presence of on-body concealed objects includes receiving a visible-domain camera image for a scene, determining, using the visible-domain camera image, a region of interest where a subject is present, receiving an infrared-domain camera image and a millimeter-wave (mmwave) radar image that each cover the region of interest, determining emissivity information for the region of interest using the infrared-domain camera image, determining reflectivity information for the region of interest using the mmwave radar image and determining a concealed object classification for the subject based on the emissivity information and the reflectivity information. A corresponding system and computer program product for executing the above method are also disclosed herein.