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

Claim 0:
1. 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, by the electronic device, a pair-specific filtering parameter by:
defining for the given first data point, 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;
calculating neighbour beam distances between the given first data point and respective neighboring points of the set of neighboring points by:
determining diagonal vectors between the given first data point and the respective neighboring points of the set of neighboring points, and
projecting the diagonal vectors onto a reflecting surface orthogonal to a laser path direction,
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;

in response to the point-to-point actual distance being above a largest neighbour beam distance, determining the pair-specific filtering parameter to be positive;

in response to the pair-specific filtering parameter being positive, 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.