Patent ID: 11860304
Assignee: HUAWEI TECHNOLOGIES CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 9:
10. The method of claim 5, wherein determining if the neighboring data point Pn is a ceiling data point comprises:
for pn and an adjacent data point pn+1 measured by two adjacent laser beams of the multi-laser spinning LIDAR sensor, wherein pn and pn+1 each occupies a respective element in two elements in a column of elements in the range map, and wherein pn+1 has a set of Cartesian coordinate values [xn+1,yn+1,zn+1]:
computing an inclination value represented by ϑn between pn and pn+1 in accordance with the formula, ϑ
    n
   
   =
   
    atan
    (
    
     
      
       z
       
        n
        +
        1
       
      
      -
      
       z
       n
      
     
     
      
       
        
         x
         
          n
          +
          1
         
         2
        
        +
        
         y
         
          n
          +
          1
         
         2
        
       
      
      -
      
       
        
         x
         n
         2
        
        +
        
         y
         n
         2
        
       
      
     
    
    )
   
  
  ;
 

 and
when the value of ϑn is close to 180 degrees, determining pn to be a ceiling data point.