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

Claim 5:
6. The method of 5, wherein for each new region cluster data point Pc in the region cluster Cli:
computing a horizontal distance dc of the new region cluster data point Pc from an origin [0, 0, 0] of the Cartesian coordinate system of the multi-laser spinning LIDAR sensor based on the formula dc=√{square root over (xc2+yc2)}; and
for each neighboring data point pn of the region cluster data point Pc in the region cluster Cli, wherein pn has a set of Cartesian coordinate values [xn,yn,zn]:
determining if the neighboring data point pn is a ground data point or a ceiling data point;
when the neighboring data point pn is neither a ground data point nor a ceiling data point, computing a horizontal distance dn of the neighboring point Pn from the origin [0, 0, 0] of the Cartesian coordinate system of the multi-laser spinning LIDAR sensor based on the formula dn=√{square root over (xn2+yn2)}; and
when a difference between dn and dc as determined by ∥dn−dc∥ is less than a pre-defined distance threshold, adding the neighboring data point pn as a new region cluster data point into the region cluster Cli.