From: Cyclist detection and tracking based on multi-layer laser scanner
# | Formula | Description |
---|---|---|
12 | \( \sum\nolimits_{i = 1}^{{N_{c} }} {(p_{xy,i} - \hat{p}_{l,i} )^{2} /N_{c} } \) | Linearity: \( \hat{p}_{l,i} \) from linear fit |
13 | l | Length of the bounding rectangle from linear fit |
14 | w | Width of the bounding rectangle from linear fit |
15 | \( l \times w \) | The area of the bounding rectangle |
16 | Nc1/R1 | Density of laser points at first layer |
17 | Nc2/R2 | Density of laser points at second layer |
18 | Nc3/R3 | Density of laser points at third layer |
19 | Nc4/R4 | Density of laser points at fourth layer |
20 | R1 + R2 + R3 + R4 | The total areas of bounding rectangles at four layers |
21 | (R1 + R2 + R3 + R4)/4 | The average area of the bounding rectangles at four layers |
22 | \( \sqrt {\Delta X^{2} + \Delta Y^{2} } \) | Cartesian dimension |
23 | \( \sum\nolimits_{i = 2}^{{N_{c} }} {(p_{xy,i} - p_{xy,i - 1} )} \) | Length of the polyline |
24 | \( \sum\nolimits_{i = 2}^{{N_{c} }} {(|p_{xy,i} - p_{xy,i - 1} | - \bar{d})}^{2} /(N_{c} - 1) \) | The variance of the polyline |
25 | \( \sum\nolimits_{i = 2}^{{N_{c} }} {(p_{xy,i} - p_{xy,i - 1} )} /l \) | Bending of the polyline |
26 | \( \sum\nolimits_{i = 1}^{{N_{c} }} {(P_{xy,i} - \hat{P}_{a,i} )^{2} } /N_{c} \) | Circularity: \( \hat{P}_{a,i} \) from circle fitting |
27 | r | The radius of circle fitting |