Dynamic object filtering method based on 4D millimeter wave radar

The invention discloses a dynamic object filtering method based on a 4D millimeter wave radar, and the method comprises the following steps: 1, achieving the synchronization of multiple sensors in space and time through manual/automatic triggering of an automatic online laser radar-camera and laser radar-4D millimeter wave external parameter calibration module, and carrying out the preprocessing of data; step 2, a moving object identification and segmentation mechanism selects an image segmentation network implementation or a point cloud semantic segmentation network according to environmental conditions, identifies and segments a target, and preliminarily deduces the motion attributes and features of an object; step 3, a motion feature detection and discrimination mechanism based on a 4D millimeter wave radar; and step 4, an exterior point judgment and removal module removes the moving points in the image by setting a judgment and removal strategy of the dynamic exterior points, and eliminates unstable data