Multi-path object identification for navigation

A method of processing lidar measurement data includes receiving successive lidar 3D datasets over a period of time from a lidar system moving through a space during the period of time, each lidar 3D dataset corresponding to a measurement field of view (FOV) of the lidar system; identifying a plurality of objects in the laser radar 3D data set; designating at least one object of the plurality of objects as at least one possibly aggressor object; tracking a position of the one or more possible aggressor objects relative to the lidar system as the one or more possible aggressor objects move out of the measured FOV of the lidar system; and characterizing one or more of the plurality of objects as one or more multipath objects using the tracked locations of the one or more possibly aggressor objects. 一种处理激光雷达测量数据的方法，包括：从在一段时间期间移动通过空间的激光雷达系统接收所述时间内的连续激光雷达3D数据集，每个激光雷达3D数据集对应于激光雷达系统的测量视场(FOV)；标识所述激光雷达3D数据集中的多个对象；将所述多个对象中的至少一个对象指定为至少一个可能侵略者对象；当所述一个或多个可能侵略者对象移动到所述激光雷达系统的所述测量FOV之外时，跟踪所述一个或多个可能侵略者对象相对于所述激光雷达系统的位置；以及使用所述