A Radar Linear Feature Fitting Algorithm Combining Adaptive Clustering and Corner Detection Operator

Table 3

Comparison of feature point recognition efficiency and success rate of laser scanning data in different scenes.

Number	Partition number	PDBS algorithm		Proposed algorithm		Corner features number	IEPF algorithm		Proposed algorithm
		Times/ms	Success rate/%	Times/ms	Success rate/%		Times/ms	Success rate/%	Times/ms	Success rate/%
1	13	20.2	76.92	14.3	92.31	9	35.2	77.78	25.9	100
2	9	18.9	88.89	10.6	100	13	46.8	76.92	30.2	92.31
3	16	36.3	81.25	25.3	93.75	6	30.1	83.33	23.6	100
4	7	15.8	85.71	9.6	100.	10	37.6	70	28.3	90
5	10	19.8	80	13.9	90.	5	29.9	100	21.6	100
6	13	23.2	76.92	18.6	100	10	42.7	60	31.5	90
7	15	24.6	86.67	17.3	93.33	8	35.6	62.50	30.4	87.5
8	12	25.9	91.67	15.5	91.67	12	48.7	66.67	35.1	91.67
9	8	21.3	87.50	15.7	100	14	53.4	64.29	38.2	92.86
10	10	24.6	80	17.9	90	11	41.9	63.64	33.8	81.82