I. Introduction
The autonomous vehicle industry is rapidly evolving, driving fast advancements in LiDAR sensor technology and capacity, along with steadily decreasing costs. This makes large-scale LiDAR deployment in the near future inevitable [1]. However, as a laser-based sensor, LiDAR is naturally subjected to particle light scattering physics. For vehicles, this means that ambient particles present during adverse weather, such as fog, snow, and rain droplets can potentially reduce sensor accuracy. Contamination in LiDAR measurements due to snow particles remains a challenge.