System for filtering lidar data in vehicle and method thereof

A method for filtering LiDAR data, comprising:

• storing, by a controller, the LiDAR data in a matrix structure;
• determining, by the controller, whether a first filtering condition for determining whether a point is present within a predetermined reference distance in the LiDAR data is satisfied;
• determining, by the controller, whether a second filtering condition for determining whether a present point adjacent to a left and right by a reference of a reference point in the matrix structure is a first reference value or less is satisfied, when the first filtering condition is satisfied;
• and
• determining, by the controller, whether a third filtering condition for determining whether a present point adjacent to a top and bottom by the reference of the reference point is a second reference value or less are satisfied, when the second filtering condition is satisfied.

A non-transitory computer readable medium containing program instructions executed by a controller, the computer readable medium comprising:

• program instructions that store the LiDAR data in a matrix structure;
• program instructions that determine whether a first filtering condition for determining whether a point is present within a predetermined reference distance in the LiDAR data is satisfied;
• program instructions that determine whether a second filtering condition for determining whether a present point adjacent to a left and right by a reference of a reference point in the matrix structure is a first reference value or less is satisfied, when the first filtering condition is satisfied;
• and
• program instructions that determine whether a third filtering condition for determining whether a present point adjacent to a top and bottom by the reference of the reference point is a second reference value or less are satisfied, when the second filtering condition is satisfied.