About
Each sweep casts 360 rays from the ego, intersects every box edge and pedestrian disk, and keeps the nearest hit per ray. Range gets gaussian noise and a random dropout. Once a full sweep finishes, the buffer is fed to DBSCAN (ε / minPts) and the resulting clusters are AABB-boxed. Drive with WASD to feel parallax — point density and occlusion shadow are exactly what real LIDARs see.