Method and device for identifying blooming candidates in a lidar measurement

A method for identifying blooming candidates in a Lidar measurement, comprising:

• a distance-based histogram of points is created for a point cloud generated by the Lidar measurement,
• clusters of points at the same distance to the Lidar sensor taking the Lidar measurement are identified in the histogram,
• intensities of the points in a cluster are evaluated, and
• then, if the cluster contains points whose intensities exceed a predefined limit value respectively, those points in the cluster whose intensities do not exceed the predefined limit respectively, and lie below the predefined limit value by more than a predefined threshold value, are classified as blooming candidates.

A device for identifying blooming candidates in a Lidar measurement, characterized by a processing unit configured to:

• create a distance-based histogram of points for a point cloud generated by the Lidar measurement,
• identify clusters of points at the same distance to the Lidar sensor taking the Lidar measurement in the histogram,
• evaluate intensities of the points in a cluster, and
• then, if the cluster contains points whose intensities exceed a predefined limit value respectively, classify those points in the cluster whose intensities do not exceed the predefined limit respectively, and lie below the predefined limit value by more than a predefined threshold value, as blooming candidates.