Method for filtering point cloud of four-dimensional radar and data processing device

A data processing device for filtering a point cloud of a four-dimensional (4D) radar, comprising:

• an interface device configured to receive any one of raw data, a tensor, or a radar point cloud of a 4D radar;
• a storage device configured to store a program that filters an outlier;
• and
• a computing device configured to remove an outlier from the radar point cloud using the program,
• wherein the computing device generates, when the interface device receives the raw data, a tensor containing position and Doppler information from the raw data, and extracts a radar point cloud based on a threshold generated using a threshold setting function on the generated tensor or a tensor received by the interface device,
• wherein the extracted radar point cloud or a radar point cloud received by the interface device consists of a plurality of points,
• wherein the computing device removes the outlier on the basis of a range calculated further using Doppler information for each of at least some of the plurality of points,
• wherein the range is calculated on the basis of position and Doppler information of each of first and second points among the some of the plurality of points, and the position is a position in a two-dimensional or three-dimensional coordinate system, and
• wherein the range is calculated on the basis of a difference between a Doppler measurement value of the first point and a Doppler measurement value of the second point multiplied by a weight.