1. A method comprising: executing on one or more processors, instructions configured to cause the processor to: receive, from a lidar detector, at least a first plurality and a second plurality of reflected lidar points, each plurality of lidar points forming a lidar point cloud; map the lidar points in each lidar point cloud to a voxel in a three-dimensional voxel space; identify at least one object represented by a voxel cluster of voxels sharing an adjacency within the three-dimensional voxel space, wherein adjacency of two voxels is determined by a specified number of voxels between said two voxels; for each of the plurality of lidar points in each lidar point cloud: associate the lidar point with the identified object, and classify the movement of the lidar point according to the identified object; and for each identified object, classify the movement of the object according to the movement of the respective lidar points associated with the object.