EGO MOTION CORRECTION OF LIDAR OUTPUT

A navigation system for a host vehicle may include a processor programmed to determine at least one indicator of ego motion of the host vehicle. A processor may be also programmed to receive, from a LIDAR system, a first point cloud including a first representation of at least a portion of an object and a second point cloud including a second representation of the at least a portion of the object. The processor may further be programmed to determine a velocity of the object based on the at least one indicator of ego motion of the host vehicle, and based on a comparison of the first point cloud, including the first representation of the at least a portion of the object, and the second point cloud, including the second representation of the at least a portion of the object.