Adjusting imaging system data in response to edge effects

A system, comprising:

• a LIDAR system configured to output a system output signal, scan the system output signal through a series of sample regions, and generate LIDAR data results for the sample regions,
• the LIDAR data result for each of the sample regions indicating a radial velocity and/or a distance between the LIDAR system and an object in the sample region;
• electronics configured to generate a point cloud such that each point in the point cloud is associated with a velocity and a distance of the point from the LIDAR system,
• generation of the point cloud including calculating the velocities and the distances associated with the points;
• the electronics configured to apply a clustering algorithm to the points in the point cloud so as to group at least a portion of the points into multiple different spatial clusters;
• the electronics configured to apply one or more velocity criteria to the velocities associated with at least a portion of the points;
• the electronics configured to flag a portion of a points as valid in response to results from he application of the one or more velocity criteria to the velocities and also to flag a second portion of the points as invalid in response to results from the application of the one or more velocity criteria to the velocities,
• the velocity criteria being selected such that the points flagged as invalid include points generated from sample regions where the system output signal is incident on an edge of the object in the sample region;
• and
• the electronics configured to removing from the point cloud the points flagged as invalid so as to generate a filtered point cloud.