Abstract: A method is provided for determining that an evaluation Light Detection and Ranging (LIDAR) on a vehicle is misaligned to a reference LIDAR on the vehicle. The method includes receiving data from successive scans performed by the reference LIDAR and an evaluation LIDAR while the vehicle is in motion and receiving vehicle odometry from accelerometers on the vehicle while performing the scans by the reference LIDAR. The method also includes determining an odometry correction from a process of aligning point clouds received as a result of the scans by the reference LIDAR. The method also includes creating a map from the process of aligning the point clouds received as the result of the scans by the reference LIDAR and determining an alignment error for the evaluation LIDAR from a process of aligning point clouds received as a result of the scans by the evaluation LIDAR to the map.

Abstract: An approach is provided to efficiently and accurately process and align of one or more portions of a plurality of data point clouds. A processing platform may cause a segmentation of at least one first geo-registered point cloud and at least one second geo-registered point cloud based, at least in part, on an application of a ground surface threshold to one or more respective points in the at least one first geo-registered point cloud and the at least one second geo-registered point cloud. The processing platform may further cause a processing and/or facilitating a processing of the one or more respective points that are above the ground surface threshold to determine a horizontal offset for a horizontal alignment of the at least one first geo-registered point cloud and the at least one second geo-registered point cloud.

Abstract: An approach is provided to efficiently and accurately process and align of one or more portions of a plurality of data point clouds. A processing platform may cause a segmentation of at least one first geo-registered point cloud and at least one second geo-registered point cloud based, at least in part, on an application of a ground surface threshold to one or more respective points in the at least one first geo-registered point cloud and the at least one second geo-registered point cloud. The processing platform may further cause a processing and/or facilitating a processing of the one or more respective points that are above the ground surface threshold to determine a horizontal offset for a horizontal alignment of the at least one first geo-registered point cloud and the at least one second geo-registered point cloud.