A computer implemented method for processing a LiDAR point cloud of a scene acquired in the absence of aerosol or with a light level of aerosol, so as to simulate the acquisition of a LiDAR point cloud of this scene in the presence of an aerosol, comprising, for every point of the LIDAR point cloud, the following steps: a. determining (DET_R0) the initial range R 0 of this point, b. determining (DET_I) an initial intensity value associated with this point, c. determining (DET_CaP0) the product of the LiDAR system's optical constant and of the LiDAR pulse peak power sent by the LiDAR emitter, d. determining (DET_I1) a first intensity value for this point by multiplying the intensity value determined in step b, by a factor depending on an attenuation coefficient and on the initial range determined in step a, e. determining (DET_I2) a set of values each associated with a range comprised between 0 and the initial range determined in step a, by calculating an integral over time of a predetermined relationship between the range, the initial range determined in step a, the attenuation coefficient, and the half-power pulse width of the LiDAR emitter, f. identifying (ID_I2R) the greatest value of the set of values, and the associated range R tmp, g. multiplying the value identified in step f by the product determined in step c and a backscattering coefficient, to obtain a second intensity value corresponding to the backscattering produced by the aerosol, h. if (I2>I1) the second intensity value identified in step g is greater than the first intensity value determined in step d, - determining a random value p of float type comprised within -1 and 1 to calculate a noise factor n = 2 p, - determining a scaling factor s = ( R tmp / R 0) using the range identified in steps a and f, - replacing the position of the point with a position determined using the noise factor and the scaling factor, - replacing the intensity of the point with the second intensity value obtained in step g, else, replacing the intensity of the point with the first intensity value determined in step d. a. determining (DET_R0) the initial range R 0 of this point, b. determining (DET_I) an initial intensity value associated with this point, c. determining (DET_CaP0) the product of the LiDAR system's optical constant and of the LiDAR pulse peak power sent by the LiDAR emitter, d. determining (DET_I1) a first intensity value for this point by multiplying the intensity value determined in step b, by a factor depending on an attenuation coefficient and on the initial range determined in step a, e. determining (DET_I2) a set of values each associated with a range comprised between 0 and the initial range determined in step a, by calculating an integral over time of a predetermined relationship between the range, the initial range determined in step a, the attenuation coefficient, and the half-power pulse width of the LiDAR emitter, f. identifying (ID_I2R) the greatest value of the set of values, and the associated range R tmp, g. multiplying the value identified in step f by the product determined in step c and a backscattering coefficient, to obtain a second intensity value corresponding to the backscattering produced by the aerosol, h. if (I2>I1) the second intensity value identified in step g is greater than the first intensity value determined in step d, - determining a random value p of float type comprised within -1 and 1 to calculate a noise factor n = 2 p, - determining a scaling factor s = ( R tmp / R 0) using the range identified in steps a and f, - replacing the position of the point with a position determined using the noise factor and the scaling factor, - replacing the intensity of the point with the second intensity value obtained in step g, else, replacing the intensity of the point with the first intensity value determined in step d. - determining a random value p of float type comprised within -1 and 1 to calculate a noise factor n = 2 p, - determining a scaling factor s = ( R tmp / R 0) using the range identified in steps a and f, - replacing the position of the point with a position determined using the noise factor and the scaling factor, - replacing the intensity of the point with the second intensity value obtained in step g,