## 3 Results
For each measurement, three different visualizations are provided: (i) the camera image corresponding to the measurement, (ii) the overall laser intensity distribution including the vehicle and its surroundings, and (iii) the point cloud containing only the laser intensity values of the vehicle after spatial filtering. These visualizations are presented in Figures 11-22. Figure 11: Camera image of SW-Gloss (White) colored vehicle. Figure 12: Visualization of PCD data of the SW-Gloss (White) colored vehicle: (**a**) before spatial filtering and (**b**) after spatial filtering. Figure 16: Visualization of PCD data of the CDSBL-Gloss (Blue) colored vehicle: (**a**) before spatial filtering and (**b**) after spatial filtering. Figure 14: Visualization of the PCD data of the SB-Matte (Black) colored vehicle: (**a**) before spatial filtering and (**b**) after spatial filtering. Figure 13: Camera image of SB-Matte (Black) colored vehicle. Figure 15: Camera image of the CDSBL-Gloss (Blue) colored vehicle. Figure 19: Camera image of the SMRTG-Gloss (Green) colored vehicle. Figure 17: Camera image of TCSRM-Gloss (Red) colored vehicle. Figure 20: Visualization of PCD data of the SMRTG-Gloss (Green) colored vehicle: (**a**) before spatial filtering and (**b**) after spatial filtering. During the experimental validation process, laser intensity measurements for each scenario were analyzed in detail. First, the average laser intensity values before and after spatial filtering were calculated, and the impact of spatial filtering on measurement accuracy was evaluated. Then, using only the point cloud (PCD) data from the region where the vehicle is located, the distance (r), vertical angle (\(\phi\)), and horizontal angle (\(\theta\)) between the vehicle and the sensor were determined based on Equations (5)-(7). Additionally, the effective number of channels (N) for this location was computed using Equation (8). These input parameters were fed into the developed GPR model to compute the predicted laser intensity value. The predicted intensity value was then compared with the actual measurements obtained after spatial filtering, and the model's accuracy was assessed. The results of these analyses are summarized in Figure 11:0  
As seen from the results, the intensity values obtained before the removal of environmental effects exhibit significant changes after spatial filtering. This indicates that \begin{table}
\begin{tabular}{c c c c c c c c c c c} \hline \hline \multirow{2}{*}{**Color**} & \multirow{2}{*}{**Data**} & \multirow{2}{*}{**Time** **(min/s)**} & **Intensity Before Filtering** & **Intensity After Filtering** & **Distance (m)** & **Vertical Angle (\({}^{\circ}\))** & **Active Channels** & **Estimated Channels** & **Accuracy (\%)** \\ \hline (White) & a1 & 04:49 & 46.516 & 82.756 & 2.451 & 2.124 & 121.415 & 5.396 & 79.015 & 98.533 \\ \hline (Black) & b1 & 02:55 & 38.988 & 20.131 & 1.678 & 1.371 & 105.662 & 4.696 & 22.96 & 98.891 \\ \hline (Blue) & b1 & 02:36 & 37.764 & 30.462 & 1.914 & 1.162 & 107.916 & 4.796 & 33.539 & 98.793 \\ \hline (Red) & a4 & 05:10 & 30.776 & 50.797 & 2.165 & 1.222 & 112.396 & 4.995 & 47.701 & 98.786 \\ \hline (Green) & b3 & 00:28 & 31.409 & 26.669 & 1.881 & 1.150 & 94.80 & 4.529 & 31.271 & 98.195 \\ \hline (Silver) & a2 & 05:47 & 28.582 & 38.155 & 2.076 & 1.420 & 118.42 & 5.263 & 42.392 & 98.338 \\ \hline \hline \end{tabular}
\end{table} 
Table 7: Comparison of average intensity values before and after spatial filtering with the distance, angle, number of effective channels, and model-predicted intensity values computed using the filtered data. Figure 21: Camera image of the TSSM-Gloss (Silver) color vehicle. Figure 22: Visualization of PCD data of the TSSM -Gloss (Silver) colored vehicle: (**a**) before spatial filtering and (**b**) after spatial filtering. environmental factors have a direct impact on intensity measurements and underscores the necessity of spatial filtering to enhance analysis accuracy. The model's accuracy was assessed using the values obtained after spatial filtering.