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“Ibeo has a clearly defined API document to read the messages via an interface, and we look at both the raw data and object data,” says Hambrick. The distance and angular resolution data are used to offset camera and radar data. Three steps are performed in the sensor. Pre-processing filters out invalid scan points – that is, points such as rain or ground, which are highly unlikely to be objects; then the clustered point clouds that might belong to an individual object are identified in The laser sensors on the bumpers give a beam with four layers; we use them to cover the blind spot of the Velodyne on the roof The Ibeo laser scanners have object detection software built in