System and method for processing radar data

A system for processing radar data, comprising:

• a radar device;
• at least one processor;
• and
• at least one memory including a computer program code,
• wherein the at least one memory and the computer program code are configured to, with the at least one processor, cause the system to:
• acquire, from the radar device, first radar data corresponding to a first scan time point and second radar data corresponding to a plurality of second scan time points occurring prior to the first scan time point;
• perform trajectory preprocessing on the second radar data to generate converted second radar data based on a time difference between the first scan time point and each of the plurality of second scan time points;
• and
• generate refined data by accumulating the converted second radar data together with the first radar data,
• wherein performing the trajectory preprocessing comprises:
• clustering point cloud data included in the second radar data to form a plurality of clusters;
• estimating a velocity vector of each cluster of the plurality of clusters;
• predicting a location of each radar point of the second radar data at the first scan time point based on the estimated velocity vector and the time difference;
• and
• converting the second radar data based on the predicted location.