Abstract: A method and to a device for processing a 3D point cloud representing surroundings, which is generated by a sensor. Initially, starting cells are identified based on ascertained starting ground points within the 3D point cloud which meet at least one predefined ground point criterion with respect to a reference plane divided into cells. Thereafter, cell planes are ascertained for the respective starting cells of the reference plane. Thereafter, estimated cell planes and ground points are ascertained for candidate cells deviating from the starting cells based on the cell planes of the starting cells, which are subsequently converted into final cell planes. As a result of such a cell growth originating from the starting cells, the cells of the reference plane are iteratively run through and processed so that the 3D point cloud is reliably classifiable into ground points and object points based on this method.

Abstract: A method for range determination for a LIDAR sensor. The method includes: receiving measured values of a LIDAR sensor organized in a point cloud, and each including pieces of directional information and radial distance information relative to the LIDAR sensor and representing a laser beam reflected from the particular direction and at the particular radial distance; assigning the measured values based on the pieces of directional and radial distance information to areas of interest of a field of view; ascertaining a maximum distance range as an area of interest including a maximum radial distance to the LIDAR sensor and a point distribution of measured values of the area of interest, which includes a variance which reaches or exceeds a predetermined limiting value; and providing a value of the radial distance of the maximum distance range to the LIDAR sensor as the maximum range of the LIDAR sensor.

Abstract: A method for ascertaining a range limit of a LIDAR device, due to environmental influences, by use of a control unit is provided. For ascertaining distances between the LIDAR device and at least one surface in a scanning area, beams are emitted into the scanning area by a transmitting unit of the LIDAR device, and beams that are reflected and/or backscattered from the scanning area are received by a receiving unit of the LIDAR device. The distances between the LIDAR device and the surface are computed based on the propagation times of the transmitted beams and of the reflected and/or backscattered beams. A range limit of a maximum possible range of the LIDAR device is ascertained based on a variance of the computed distances. Moreover, a control unit and a LIDAR device are provided.