Table 3 Statistical features
From: Cyclist detection and tracking based on multi-layer laser scanner
# | Formula | Description |
|---|---|---|
28 | D1–d2 | Convexity of laser points at first layer |
29 | D2–d2 | Convexity of laser points at second layer |
30 | D3–d3 | Convexity of laser points at third layer |
31 | D4–d4 | Convexity of laser points at fourth layer |
32 | \( \sqrt {\frac{ 1}{{N_{c} }}\sum\nolimits_{i = 1}^{{N_{c} }} {(p_{xy,i} - \bar{p}_{2D} )^{2} } } \) | Standard deviation: \( \bar{p}_{2D} \) denotes the mean of the projection points at horizontal plane |
33 | \( \sum\nolimits_{i = 1}^{{N_{c} }} {(p_{xy,i} - D_{m} )^{2} /N_{c} } \) | Variance: Dm denotes the median of the projection points at horizontal plane |
34 | \( \sum\nolimits_{i = 1}^{{N_{c} }} {(p_{xy,i} - \bar{p}_{2D} )^{2} } /N_{c} \) | Second central moment |
35 | \( \sum\nolimits_{i = 1}^{{N_{c} }} {(p_{xy,i} - \bar{p}_{2D} )^{3} } /N_{c} \) | Third central moment |
36 | \( \sum\nolimits_{i = 1}^{{N_{c} }} {(p_{xy,i} - \bar{p}_{2D} )^{4} } /N_{c} \) | Fourth central moment |
37 | \( r_{center} /\frac{{r_{front} + r_{rear} }}{2} \) | Residual ratio |