Radar and doppler analysis and concealed object detection

A method comprising:

• receiving first radar data indicating a first detection associated with a first region in an environment, wherein the first radar data includes first doppler data associated with the first detection;
• receiving second radar data indicating a second detection associated with a second region in the environment, wherein second the radar data includes second doppler data associated with the detection, wherein the second detection is associated with a possible object in the environment;
• determining, based at least in part on the first doppler data associated with the first detection, a radar noise level associated with the second region in the environment, wherein at least a portion of the first radar data and the second radar data overlap in at least one of the range or doppler dimensions;
• determining a probability distribution associated with an object type of the possible object;
• and
• controlling a vehicle in the environment to avoid the second region in the environment, based at least in part on the radar noise level associated with the second region in the environment and the probability distribution associated with the object type of the possible object.

One or more non-transitory computer-readable media storing processor-executable instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:

• receiving first radar data indicating a first detection associated with a first region in an environment, wherein the first radar data includes first doppler data associated with the first detection;
• receiving second radar data indicating a second detection associated with a second region in the environment, wherein the second radar data includes second doppler data associated with the detection, wherein the second detection is associated with a possible object in the environment;
• determining, based at least in part on the first doppler data associated with the first detection, a radar noise level associated with the second region in the environment, wherein at least a portion of the first radar data and the second radar data overlap in at least one of the range or doppler dimensions;
• determining a probability distribution associated with an object type of the possible object;
• and
• controlling a vehicle in the environment to avoid the second region in the environment, based at least in part on the radar noise level associated with the second region in the environment and the probability distribution associated with the object type of the possible object.