Patent Document ID: 9582939
Application ID: 14736476
Patent Status: 1

Claim One:
1. A method comprising: receiving, using a processor, a first point cloud distribution from a sensor configured to detect the surroundings of a vehicle, wherein the point cloud distribution includes a plurality of points, a global spatial structure and a local point density; calculating, using the processor, a first pairwise distance set for the plurality of points to at least one other point in the plurality of points; generating, using the processor, a first distance matrix, wherein the first distance matrix includes entries that correspond to the first pairwise distance set; calculating, using the processor, a second pairwise distance set for the plurality of points to at least one other point in the plurality of points, wherein the plurality of points have a weight; generating, using the processor, a second distance matrix, wherein the second distance matrix includes entries that correspond to the second pairwise distance set; removing, using the processor, a portion of the points in the second pairwise distance set based on the weight of the at least one point in the plurality of points; performing, using the processor, a comparison of the first distance matrix and the second distance matrix, wherein the comparison uses the global spatial structure and the local point density; constructing, using the processor, a second point cloud distribution using the comparison and the second distance matrix; and providing, using the processor, the second point cloud distribution to a navigation device.