Sequential clustering

One or more computer-readable non-transitory storage media embodying software that is operable when executed to cause one or more processors to perform operations comprising:

• accessing a plurality of data points captured using a radar system of the vehicle, wherein each data point is associated with at least three measurements comprising a Doppler measurement, a range measurement, and an azimuth measurement in reference to the radar system;
• clustering the plurality of data points into one or more first clusters based on a first pair of the three measurements associated with each of the data points;
• clustering the plurality of data points into one or more second clusters based on a second pair of the three measurements associated with each of the data points, the second pair being different from the first pair of the three measurements;
• determining one or more overlap clusters of the data points based on comparisons between the one or more first clusters and the one or more second clusters;
• and
• associating the data points of each of the overlap clusters as an object in an environment of the vehicle.

A computing system comprising:

• one or more processors;
• and
• one or more computer-readable non-transitory storage media coupled to one or more of the processors, the one or more computer-readable non-transitory storage media comprising instructions operable when executed by one or more of the processors to cause the computing system to perform operations comprising:
• accessing a plurality of data points captured using a radar system of the vehicle, wherein each data point is associated with at least three measurements comprising a Doppler measurement, a range measurement, and an azimuth measurement in reference to the radar system;
• clustering the plurality of data points into one or more first clusters based on a first pair of the three measurements associated with each of the data points;
• clustering the plurality of data points into one or more second clusters based on a second pair of the three measurements associated with each of the data points, the second pair being different from the first pair of the three measurements;
• determining one or more overlap clusters of the data points based on comparisons between the one or more first clusters and the one or more second clusters;
• and
• associating the data points of each of the overlap clusters as an object in an environment of the vehicle.