Ghost point filtering

Abstract

Among other things, techniques are described for obtaining a range image related to a depth sensor of a vehicle operating in an environment. A first data point is identified in the range image with an intensity at or below a first intensity threshold. A first number of data points are determined in the range image that have an intensity at or above a second intensity threshold in a first region of the range image. Then, it is determined whether the first number of data points is at or above a region number threshold. The first data point is removed from the range image if the first number of data points is at or above the region number threshold. Operation of the vehicle is then facilitated in the environment based at least in part on the range image. Other embodiments may be described or claimed.

What is claimed is: 
     
         1 . A method comprising:
 obtaining, using at least one processor, a range image related to a depth sensor of a vehicle operating in an environment;   identifying, using the at least one processor, a first data point in the range image with an intensity at or below a first intensity threshold;   determining, using the at least one processor, a first number of data points in the range image that have an intensity at or above a second intensity threshold in a first region of the range image;   determining, using the at least one processor, whether the first number of data points is at or above a region number threshold;   removing, using the at least one processor, the first data point from the range image if the first number of data points is at or above the region number threshold; and   facilitating, using the at least one processor, operation of the vehicle in the environment based at least in part on the range image.