Abstract: The present disclosure provides data processing methods and apparatuses related to LiDAR technologies. In an implementation, a method includes: performing k detection sweeps by using an original detection window to obtain a first set of detection data as a result of the k detection sweeps, wherein k is a positive integer, determining, based on the first set of detection data, a position of an echo pulse at an arrival time point within the original detection window, adjusting, based on the position of the echo pulse, a detection window, performing n detection sweeps by using the adjusted detection window to obtain a second set of detection data as a result of the n detection sweeps, wherein n is a positive integer, and determining, based on the first set of detection data and the second set of detection data or based on the second set of detection data, at least one of a distance or a reflectivity of an object.

Abstract: Methods, devices, and computer-readable storage media for LiDAR ranging are provided. In one aspect, a ranging method for a LiDAR includes: acquiring multiple frames of detection data of a three-dimensional environment; predicting, based on at least part of previous k frames of the detection data, a position where an obstacle is located in the three-dimensional environment during (k+1)th detection, k being an integer and k?1; when performing the (k+1)th detection, changing, based on predicted position information of the obstacle, a detection window for at least one point on the obstacle; calculating ranging information of the at least one point only based on echo information within a range of the changed detection window.

Abstract: A storage method for detection data of a lidar, a data processing method for a lidar, a lidar, and a computer-readable storage medium are provided. The storage method includes: S101: receiving a detection data, the detection data including time information and intensity information corresponding to the time information; and S102: storing the intensity information with a first time precision based on a weight of the time information. The first time precision is a time interval between any two adjacent first time scales, and is n times the time resolution of the detection data of the lidar, and n>1. The weight is associated with a time interval between the time information and at least one first time scale. The storage method can maintain a ranging precision while reducing a storage space.