In this paper, we propose a method for efficient target classification based on the spatial features of the point cloud generated by using a high-resolution radar sensor. The frequency-modulated continuous wave radar sensor can estimate the distance and velocity of a target. In addition, the azimuth and elevation angle of the target can be estimated by using a multiple-input and multiple-output antenna system. Using the estimated distance, velocity, and angle, the 3D point cloud of target can be generated. From the generated point cloud, we extract the point cloud for each individual target using the density-based spatial clustering of application with noise method and a camera mounted on the radar sensor. Then, we define the convex hull boundaries that enclose these point clouds in both 3D and 2D spaces obtained by orthogonally projecting onto the $xy$, $yz$, and $zx$ planes. Using the vertices of convex hull, we calculate the volume of the targets and the areas in 2D spaces. Several feature points, including the calculated spatial information, are numerized and configured into feature vectors. We design an uncomplicated deep neural network classifier based on minimal input information to achieve fast and efficient classification performance. As a result, the proposed method achieved an average accuracy of 97.1%, and the time required for training was reduced compared to the method using only point cloud data and the convolutional neural network-based method.

We propose a lightweight cone-based Region of Interest (ROI) filtering method for camera–LiDAR fusion on distributed edge systems. Multiple Neural Processing Unit (NPU) nodes perform camera inference, and a central edge board combines their detections with LiDAR point clouds. The relative rotation is obtained from IMU quaternions under a common attitude reference and aligned sensor axes, while camera Field of View (FOV) parameters define the viewing rays. The method avoids a separate offline extrinsic-rotation estimation procedure, but it requires initial alignment, a measured translation vector, and timestamp-based synchronization. Because the rotation follows from the attitude streams rather than from a per-pair calibration session, a camera node can be added or re-aimed without a new calibration session, which lowers the setup cost of extending the system to further viewpoints. A cone membership test replaces four plane-normal dot products with a forward sign test and a squared angular cosine comparison that reuse the same axis–point dot product; on the same hardware, the mean per-camera ROI-filtering and clustering latency decreases from 6.02 to 4.46 ms, a 25.9% reduction. An adaptive threshold tightens the ROI boundary using the angular separation between neighboring detections. Across six overlap events in a parking scenario, pair-level separation succeeds in 2/6 cases (33.3%) with Pyramid and 5/6 cases (83.3%) with Cone+Adp. These preliminary results indicate improved ROI point selection for the tested configurations, rather than a general increase in intrinsic spatial separation capability.