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We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time conditions. Our approach extends the state of the art by innovative in-detail enhancements for perceiving road users and drivable corridors even in case of non-flat ground surfaces and overhanging or protruding elements. We describe a runtime-efficientarXiv:2005.03404v1 fatcat:yabg6fypsfcinf2pfsubjvgjtu