A controller comprises a communication interface to receive a lidar dataset comprising a plurality of intensity measurement data points; and processing circuitry to implement an iterative process to determine a second central moment and a fourth central moment of at least a portion of the dataset of intensity measurement data points, determine a kurtosis of the at least a portion of the dataset of intensity measurement data points using the second central moment and the fourth central moment, identify an intensity measurement data point which has the highest intensity in the at least a portion of the dataset of intensity measurement data points, and remove from the at least a portion of the data set the intensity measurement data point which has the highest intensity in the at least a portion of the dataset of intensity measurement data points until the kurtosis converges to a predetermined value.
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