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IWR6843AOP: Clustering step

Part Number: IWR6843AOP

Hello, 

I am a student in a french university. I have a project so it consists of creating an application to detect the traffic behind a bike and alert in case of danger   RCTA ( Rear Cross Traffic Alert). 

I have advanced on this project and I can calculate the distance between the radar and a target and evaluate the angles in azimuth and elevation. 

Now I'm blocked in the clustering phase, I don't have any vision to do this step. 

So my question is : if there is a posiblity  to have some information how to realize this step ( Algo....), how to distinguish between two point clouds .?

Thanks for your help,

Best regards,

Farouk