A processor-implemented method in a vehicle for recognizing objects from radar data includes: retrieving radar measurements that were performed in various periodic time steps; organizing the radar measurements in appropriate time slots; forming a sequence cluster of radar measurements, wherein the sequence cluster comprises a sliding window with the latest time windows of radar measurements; Removing noise from the sequence cluster of radar measurements by removing a cluster of radar measurements from the sequence cluster of radar measurements that is in conflict with a road topology map for an area in which the first object is estimated and outputting the sequence cluster of radar measurements after removing conflicting ones Radar measurements as a new cluster of radar measurements.
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