Systems, vehicles, and techniques are provided to classify reflection detection points in a sensing system. A reflection detection point can be classified as an apparent reflection or a physical reflection. In some embodiments, a beamforming map can be generated using a response function of an antenna array and data representative of electromagnetic signals received at the antenna array. Multiple reflection detection points can be detected using at least the beamforming map. A second beamforming distribution map also can be generated, using at least the data and a second response function of the array of antennas. The second response function includes minima at respective reflection points. A ratio between (i) a first amplitude of a reflection detection point in the second beamforming map and (ii) a second amplitude of the reflection point in the first beamforming map permits classifying the reflection detection point as an apparent reflection or a physical reflection.