METHODS AND SYSTEMS FOR PROCESSING LIDAR SENSOR DATA Russian patent published in 2022 - IPC G01S1/00 

FIELD: measuring equipment.

SUBSTANCE: area of application: invention relates to computer-implemented data processing, more specifically, to methods and systems for processing lidar (LIDAR) sensor data. Substance: the method includes (i) receiving a first data set from the lidar sensor, with a set of first data points representing the corresponding coordinates and associated with the corresponding normal vectors, (ii) determining the uncertainty parameter for said first data point based on the normal covariance of the normal vector of said first data point, wherein the normal covariance accounts for the measurement error of the lidar sensor when determining the corresponding coordinates of said first data point, (iii) in response to the uncertainty parameter above a predetermined threshold value, excluding said first data point from the set of first data points, (iv) using a filtered set of first data points instead of the set of first data points to merge the first lidar sensor data set with the second lidar sensor data set.

EFFECT: increase in the level of accuracy for the convergence of the ICP algorithm, improvement in the filtering stage, reduction in the distortion of objects in the universal representation of the scene.

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