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