Fig. 1. Principle of clutter-map CFAR detection

Fig. 2. Processing flow diagram of rapid target detection for lidar point cloud data

Fig. 3. Scene of the experiment

Fig. 4. 3D graphic of actual point cloud data

Fig. 5. 3D graphic of mesh processing result

Fig. 6. Diagram of 3D filtering result

Fig. 7. Segmentation result of 3D SGM

Fig. 8. Segmentation result by 3D GMM

Fig. 9. Target detection result by clutter-map CFAR

Fig. 10. Projection of 3D processing results in azimuth plane