Lidar De-snowing Method with Density and Intensity Fusion

Light detection and ranging (LiDAR) are widely used in the fields of target detection and Simultaneous Localization and Mapping (SLAM). Noise caused by snowfall makes it difficult for LiDAR to provide usable point clouds. Due to the sparse nature of point clouds and the irregularity of snowfall, it is difficult to accurately remove snow. To address this issue, this paper presents a de-snowing approach combining the density and intensity. A density-based filter first acquires the snowfall region, and then a method that fusions density and intensity removes snowfall from the region. The effectiveness of this method has been validated in adverse snowfall scenarios.