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

Claim 8:
9. The method of claim 5, wherein determining if the neighboring data point pn is a ground 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
   
   =
   
    a
    ⁢
    
     tan
     (
     
      
       
        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 0 degrees, determining Pn to be a ground data point.