MERGING DATA FROM MULTIPLE LIDAR DEVICES

Among other things, a method performed on a vehicle includes receiving first LiDAR point cloud information from a first LiDAR device and second LiDAR point cloud information from a second LiDAR device, wherein the first LiDAR device and the second LiDAR device are respectively configured to detect light reflected from objects proximate to the vehicle and generate LiDAR point cloud information based on the detected light, wherein the first LiDAR device is at a first position of the vehicle and is configured for a first starting angle and a first frequency, and the second LiDAR device is at a second position of the vehicle and is configured for a second starting angle and a second frequency, receiving first timestamp information associated with the first LiDAR point cloud information and second timestamp information associated with the second LiDAR point cloud information, and in accordance with the first and second LiDAR point cloud information, first and second timestamp information, first starting angle, a first frequency, second starting angle, and second frequency, generating third point cloud information according to merging the first and second LiDAR point cloud information, and operating the vehicle based upon the third LiDAR point cloud information.