LiDAR scanner

A method of accounting for an unclean or damaged window on a LiDAR sensor, the method comprising:

• emitting an electromagnetic pulse through a window of the LiDAR sensor;
• receiving a first reflected pulse caused by the emitted electromagnetic pulse being reflected from the window;
• measuring an intensity of the first reflected pulse;
• receiving a second reflected pulse caused by the emitted electromagnetic pulse being reflected from an external object;
• measuring a time of receipt of the second reflected pulse from the external object to indicate a distance from the external object;
• and
• based at least in part on the intensity of the first reflected pulse, estimate a reflectance of the external object.

A LiDAR sensor comprising:

• a laser configured to emit an electromagnetic pulse;
• an electromagnetic pulse receiving sensor configured to measure an intensity of a first reflected pulse resulting from the electromagnetic pulse emitted by the laser being reflected from a window, and a second reflected pulse being reflected by an object external from the LiDAR sensor;
• and
• a processor configured to determine a time of receipt of the second reflected pulse according to an estimated time of a peak intensity of the second reflected pulse, the processor being further configured to estimate a reflectance of the object based at least in part on the intensity of the first reflected pulse.