Identifying background features using LIDAR

A method and vehicle 100 mounted system comprising at least one LIDAR 123 device configured to detected reflected radiation from objects proximate to the vehicle in the environment 190 and generate point cloud information. A processor communicatively coupled to the LIDAR device and configured to receive the LIDAR point cloud data, model the point cloud information as a sphere, based on the sphere identifying faces corresponding to respective clusters of points of the received LIDAR point cloud information, generating a graph data structure that includes vertices corresponding to the respective faces of the identified faces, connecting vertices of the graph data structure based on adjacency of the underlying points and characteristics of the faces. Based on the graph data, identifying subgraphs each including connected vertices and based on analysis of characteristics of the faces in the subgraphs identifying subgraphs that correspond to a background feature of the environment scanned by ...

Identifying background features using LIDAR