LiDAR DENOISING METHOD AND LiDAR

原文（中文）

A LiDAR denoising method and a LiDAR are provided. The LiDAR denoising method includes: first obtaining the echo signal corresponding to a pixel unit in a receiving array of the LiDAR; obtaining a target measurement distance and echo feature information based on the echo signal, where the echo feature information is an echo amplitude and/or an echo width; obtaining a target noise point threshold based on a pixel position of the pixel unit and the target measurement distance; determining whether the echo signal is a noise signal according to the echo feature information and the target noise point threshold; and if so, deleting the echo signal.