Detection system, sensor system, detection method, and recording medium

A detection system comprising:

• a processor configured to perform operations comprising:
• obtaining a reception signal from a radio wave sensor, the radio wave sensor being a sensor that emits a radio wave from a transmitting antenna to a target and receives a reflected radio wave from the target via a plurality of receiving antennas;
• generating a scattered point including positional information of the target, defined in a coordinate system having the radio wave sensor as an origin point, based on the reception signal obtained in the obtaining;
• classifying a scattered point group into one or more clusters, the scattered point group being a set of scattered points each of which is the scattered point generated in the generating during a predetermined length of time;
• calculating a centroid for each of the one or more clusters classified in the classifying by calculating a weighted average of coordinates of the scattered points included in the cluster using, as weights, strengths of reflected radio waves of the scattered points by the classifier;
• associating any of the one or more clusters classified in the classifying with the target;
• and
• combining the centroid calculated in the calculating during a preceding or earlier period with the scattered point group, wherein
• the associating comprises associating any of the one or more clusters classified in the classifying with the target, based on whether the centroid calculated during the preceding or earlier period is included in the one or more clusters.