Roadside LiDAR Vehicle Detection and Tracking Using Range and Intensity Background Subtraction

Algorithm 1

Compute DMD Background Modes of Intensity.

	Input: Intensity Channel Azimuth Unit Diagram
Outputs: Background Intensity Mode for Each LiDAR Beam
For Every Beam Intensity spatial-temporal matrix
(1)	Calculate operator that fits between the following two matrices using Moore-Penrose pseudoinverse:
(2)	Take SVD of :
(3)	Reduced matrix and obtain of by projecting A onto :
(4)	Eigen decomposition:
(5)	Compute modes:
(6)	Obtain the low-rank background mode , whose corresponding eigenvalue is asymptotically close to .
End For