Methods and Systems for Filtering Vehicle Self-reflections in Radar

A system comprising:

• a sensor;
• and
• a computing device configured to:
• determine, using sensor data from the sensor, a first representation that conveys information about a plurality of surfaces in an environment;
• generate, using a predefined model, a second representation that assigns predicted self-reflection values to respective locations of the environment based on the information about the plurality of surfaces conveyed by the first representation;
• modify the first representation based on the predicted self-reflection values in the second representation;
• and
• provide an output based on modifying the first representation.

A non-transitory computer readable medium having stored therein instructions executable by one or more processors to cause a computing system to perform functions comprising:

• determining, by a computing device and using sensor data from a sensor, a first representation that conveys information about a plurality of surfaces in an environment;
• generating, by the computing device and using a predefined model, a second representation that assigns predicted self-reflection values to respective locations of the environment based on the information about the plurality of surfaces conveyed by the first representation;
• modifying the first representation based on the predicted self-reflection values in the second representation;
• and
• providing an output based on modifying the first representation.