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Table 1 Number-of-points-based features

From: Cyclist detection and tracking based on multi-layer laser scanner

#

Formula

Description

1

Nc

Number of laser points

2

Nc1

Number of laser points at first layer

3

Nc2

Number of laser points at second layer

4

Nc3

Number of laser points at third layer

5

Nc4

Number of laser points at fourth layer

6

nl

Number of scan layers with over five points

7

nk

Slope of linear fit: Number of laser points vs. scan layers [22]

8

na

1st order coefficient of quadratic fit: Number of laser points vs. scan layers [22]

9

nb

2nd order coefficient of quadratic fit: Number of laser points vs. scan layers [22]

10

D

The distance between the center of the coordinate system of the laser scanner and the centre of 2D projection points at horizontal plane

11

d

The minimum distance between the center of the coordinate system of the laser scanner and 2D projection points at horizontal plane