METHODS AND SYSTEMS FOR PROCESSING LIDAR SENSOR DATA

Method and device for processing LIDAR sensor data are disclosed. The method includes (i) receiving from the LIDAR sensor a first dataset having a plurality of first data points representative of respective coordinates and associated with respective normal vectors, (ii) determining an uncertainty parameter for a given first data point based on a normal covariance of the normal vector of the given first data point where the normal covariance takes into account a measurement error of the LIDAR sensor when determining the respective coordinates of the given first data point, (iii) in response to the uncertainty parameter being above a pre-determined threshold, excluding the given first data point from the plurality of first data points, (iv) using the filtered plurality of first data points, instead of the plurality of first data points, for merging the first dataset of the LIDAR sensor with a second dataset of the LIDAR sensor.