Patent ID: 11860281
Assignee: DIRECT CURSUS TECHNOLOGY L.L.C
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 9:
10. An electronic device for processing LIDAR sensor data, the electronic device operatively coupled to a LIDAR sensor, the electronic device being configured to:
receive, from the LIDAR sensor, a first 3D point cloud comprising a plurality of first data points,
a given first data point from the plurality of first data points being (i) representative of respective coordinates in a 3D space and (ii) associated with a respective normal vector from a plurality of normal vectors;

determine, by the electronic device, an uncertainty parameter for the given first data point based on:
a normal covariance of the normal vector of the given first data point,
wherein the normal covariance is calculated based on a measurement error of the LIDAR sensor when determining the respective coordinates of the given first data point, the measurement error of the LIDAR sensor affecting calculation of the normal vector;

in response to the uncertainty parameter being above a pre-determined threshold, removing the given first data point from the first 3D point cloud,
wherein the first 3D point cloud comprises a filtered plurality of first data points after removing the given first data point;

after removing the given first data point from the 3D point cloud, use the filtered plurality of first data points for merging the first 3D point cloud of the LIDAR sensor with a second 3D point cloud of the LIDAR sensor, thereby generating a merged 3D point cloud; and
use the merged 3D point cloud for controlling operation of a Self-Driving Car (SDC).