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 |