1. A method for segmenting 3D sensor data generated in presence of aerosol clouds to increase situation awareness and location detection of obstacles, the method comprising: receiving the 3D sensor data; transforming the 3D sensor data into a 3D measurement point cloud; determining measurement point clusters from the 3D measurement point cloud of a single measurement cycle of 3D sensor related subsets based on local measurement point density; determining at least one of the following characteristic parameters of individual measurement point clusters position, orientation in space, shape, producing an association of a measurement point cluster to a real obstacle or an association of a measurement point cluster to the aerosol cloud by determining time variation of the characteristic parameters using 3D sensor data recorded in subsequent measurement cycles.