System for mitigation of sensor veiling glare

A method comprising:

• determining first data comprising a plurality of pixels, wherein each pixel comprises data indicative of an amplitude and a distance;
• determining a first percentage of the plurality of pixels that:
• have an amplitude greater than a first threshold amplitude, and
• have a distance that is less than a first threshold distance;
• determining the first percentage is greater than a first threshold percentage;
• and
• determining second data based on filtering individual pixels of the plurality of pixels using pixel amplitude ratio threshold data.

A device comprising:

• an indirect time of flight (iTOF) sensor;
• one or more memories storing computer-executable instructions;
• and
• one or more processors to execute the computer-executable instructions to:
• acquire first data comprising a plurality of pixels, wherein each pixel of the plurality of pixels comprises data indicative of an amplitude and a distance;
• determine, based on the amplitudes and the distances of the plurality of pixels, a first value;
• based on the first value, determine second data based on filtering individual pixels of the plurality of pixels using pixel amplitude ratio threshold data;
• and
• operate the device based on the second data.