Fig. 4From: Object detection for automotive radar point clouds – a comparisonTwo-stage clustering scheme: A density-dependent velocity threshold is used to prefilter the point cloud. A customized DBSCAN algorithm identifies object instances, i.e. clusters, in the data. Optionally, both, the filter and the clusterer can be extended by a preceding semantic segmentation network that provides additional class information. The image indicates where each processing step is utilized among the compared methodsBack to article page