Systems and methods for lidar atmospheric filtering background

A system for filtering atmospheric conditions from Light Detection and Ranging (LiDAR) point clouds, comprising:

• a vehicle;
• and
• a LiDAR system, coupled to the vehicle, the LiDAR system comprising:
• one or more LiDAR sensors;
• and
• a processor, configured to:
• generate at least one point cloud of an environment;
• identify and isolate one or more ground points within a point cloud of the at least one point cloud, wherein the one or more ground points indicate a ground portion within an environment of the point cloud;
• filter out the ground portion from the point cloud, generating an initial processed point cloud;
• identify and isolate one or more atmospheric condition points within the initial processed point cloud, wherein the one or more atmospheric condition points indicate one or more atmospheric conditions within an environment of the initial processed point cloud;
• and
• filter out the atmospheric condition points from the initial processed point cloud, generating a final processed point cloud.

A system, comprising:

• at least one Light Detection and Ranging (LiDAR) system, coupled to a vehicle, configured to generate one or more point clouds of an environment;
• and
• a computing device, including a processor and a memory, coupled to the vehicle, configured to store programming instructions that, when executed by the processor, cause the processor to:
• identify and isolate one or more ground points within a point cloud of the one or more point clouds, wherein the one or more ground points indicate a ground portion within an environment of the point cloud;
• filter out the ground portion from the point cloud, generating an initial processed point cloud;
• identify and isolate one or more atmospheric condition points within the initial processed point cloud, wherein the one or more atmospheric condition points indicate one or more atmospheric conditions within an environment of the initial processed point cloud;
• and
• filter out the atmospheric condition points from the initial processed point cloud, generating a final processed point cloud.