Method and sensor apparatus for generating an object classification for an object

A method of generating an object classification for an object localized in first and second images of objects captured using a light imaging sensor and a radar sensor respectively, the method comprising:

• generating image data for the object localized in the first image of the objects captured using the light imaging sensor,
• operating an image-based object classifier on the image data to generate an image-based object classification of the object localized in the first image of the objects;
• generating radar data corresponding to an echo reflected from the object localized in the second image of the objects captured using the radar sensor,
• operating a radar-based object classifier on the radar data to generate a radar-based object classification of the object localized in the second image of the objects,
• selecting between the image-based object classification and the radar-based object classification to output as the object classification for the object;
• determining if a training condition is met by the radar-based object classification, and
• training the radar-based object classifier using the image-based object classification if the training condition is met by the radar-based object classification;
• wherein the object is one of a human, animal, or vehicle.