Moving Object Classification Using 3D Point Cloud in Urban Traffic Environment

Table 1

Number-of-point-based features.

Index	Description	Formula
f1	Number of points of the cluster	n
f2	The slope of the line fitted by the number of points at each layer [13]
f3-f4	The first order and second order coefficient of the quadratic curve are fitted by the number of points at each layer [13]
f5	The product of the number of points and the minimum distance between the scan point and the origin point