Techniques for fast point cloud filtering using a parallel cascaded filter

摘要

A set of POIs of a point cloud are received at a first filter, where each POI of the set of POIs comprises one or more points. Each POI of the set of POIs is filtered. At a second filter, a first set of neighborhood points of a POI is selected. A first metric for the first set of neighborhood points is computed. Based on the first metric, a first score of the POI is determined. At a third filter, a second set of neighborhood points of a POI is selected. A second metric for the second set of neighborhood points is computed. Based on the second metric, a second score of the POI is determined. At the first filter, based on the first score and the second score, whether to accept the POI, modify the POI, or reject the POI, is determined to extract range or velocity information.