Object detection using spatial segmentation

Techniques for object detection based on sensor data are discussed herein. In some cases, the techniques described herein include receiving lidar data and radar data associated with an environment of a vehicle, wherein the lidar data comprises a first set of lidar points associated with a first portion of the environment. The techniques further include determining, based on the radar data, a first subset of the first set that is associated with a dynamic movement pattern; determining a first ratio based on the first subset and the first set. Further, the techniques include, based at least in part on determining that the first ratio exceeds a threshold, determining that the first portion is associated with a dynamic object in the environment. In some examples, the vehicle can be controlled based on the dynamic object.