Method and apparatus of filtering dynamic objects in radar-based ego-emotion estimation

An apparatus for filtering dynamic objects in radar-based ego-motion estimation, the apparatus comprising:

• a data converter configured to convert a measurement value at a current time, measured by a radar sensor, into a point cloud;
• a pre-filter configured to classify the point cloud into points of a first object predicted as a static object and points of a second object predicted as a dynamic object, based on a position value of a dynamic object tracked at a previous time by a track module;
• an outlier filter configured to classify the points of the first object into the points of the static object predicted as a normal value and the points of the dynamic object predicted as an outlier, based on an outlier filtering algorithm;
• a post-filter configured to classify the points of the second object into points of a candidate static object and points of a candidate dynamic object, based on a velocity model of the static object;
• and
• the track module configured to track a position value of the dynamic object at a current time, based on the points of the dynamic object and the points of the candidate dynamic object.