1. A method of detecting boundary barriers along a route of travel using a lidar sensing system, the method comprising the steps of: capturing sparse measurement ray tracing from a sensor using the lidar sensing system; analyzing each ray tracing separately by a processor; identifying curb candidates per each respective ray tracing; combining curb candidates to generate multiple curb representative hypotheses; applying a weighting factor to each curb hypothesis; selecting curb hypothesis representing the curb; and applying the curb detection to a autonomous guidance system related to guiding a vehicle along the route of travel.