In this study, we perform human identification using accumulated radar point clouds in an outdoor scene. We employ PointNet as classification network and explore the impact of adding radars' non-spatial features as input, namely doppler velocity and radar cross section (RCS). Fur
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In this study, we perform human identification using accumulated radar point clouds in an outdoor scene. We employ PointNet as classification network and explore the impact of adding radars' non-spatial features as input, namely doppler velocity and radar cross section (RCS). Furthermore, we encode time as an additional time identity dimension to each point within the accumulated point cloud. We examine the effects of normalizing the RCS values, canonicalizing the spatial dimensions of the point cloud, as well as normalizing the doppler velocity with respect to this canonicalization. We examine three different PointNet configurations to understand the impact of the TransformNet blocks (T-Net) within the PointNet architecture on our six-dimensional radar data input. We have created a realistic outdoor dataset for training and evaluation purposes. Our approach of using the unnormalized six-dimensional radar data on the PointNet architecture without the two T-Net blocks achieves the highest performance of 73.4 % on our test set.