Abstract: A method includes obtaining, by a processing device, radar sensor data from a driving environment of an autonomous vehicle (AV). The radar sensor data corresponds to a field-of-view (FOV) of a radar sensor of the AV. The method further includes identifying, by the processing device from the radar sensor data, a potential occlusion within the driving environment, obtaining, by the processing device, non-radar sensor data from the driving environment, the non-radar sensor data corresponding to a FOV of a non-radar sensor of the AV, determining, by the processing device from the non-radar sensor data, whether the potential occlusion is a false occlusion, and in response to determining that the potential occlusion is a false occlusion, removing, by the processing device, the false occlusion from the FOV of the radar sensor.