Patent ID: 11860315
Assignee: DIRECT CURSUS TECHNOLOGY L.L.C
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 13:
14. A computer-implemented method of processing LIDAR sensor data, the method executable by an electronic device operatively coupled to a LIDAR sensor, the LIDAR sensor including a plurality of vertically spaced lasers, the LIDAR sensor being rotatable about a vertically extending axis, the method comprising:
receiving, by the electronic device from the LIDAR sensor, an indication of the LIDAR sensor data including:
a first dataset having a plurality of first data points, and
a second dataset having a plurality of second data points,
each one from the plurality of first data points and each one from the plurality of second data points being representative of respective coordinates in a 3D space and associated with a respective normal vector from a plurality of normal vectors,

matching, by the electronic device, at least some of the plurality of first data points with at least some of the plurality of second data points,
thereby determining a plurality of pairs,
a given one of the plurality of pairs including (i) a given first data point and (ii) a given second data point, the given first data point and the given second data point separated by a point-to-point actual distance;

for the given one of the plurality of pairs, determining a largest neighbour beam distance amongst a plurality of neighbour beam distances by:
calculating neighbour beam distances between the given first data point and respective neighboring points of a set of neighboring points,
the set of neighboring points being associated with a subset of lasers of the plurality of lasers vertically adjacent to a given laser that has been instrumental in generating the given first data point,
the subset of lasers having been instrumental in generating the set of neighboring points,
 a given neighbour beam distance being representative of a linear distance between the given first data point and a respective one of the set of neighbouring points,
 the given neighbour beam distance being determined by:
 determining a diagonal vector between the given first data point and the respective one of the set of neighboring points, and
 projecting the diagonal vector onto a reflecting surface orthogonal to a laser path direction,

identifying, by the electronic device, the largest neighbour beam distance amongst the plurality of neighbour beam distances;

in response to the largest neighbour beam distance being above the point-to-point actual distance, excluding the given one of the plurality of pairs from further processing, thereby defining a reduced plurality of pairs; and
processing, by the electronic device, the reduced plurality of pairs for merging the first dataset and the second dataset.