Clustering

1. K-means

2. DBSCAN(Density-based spatial cluster of applications with noise)

3 CCL(Connected Component Labeling)

4. EMST(Euclidean Minimum Spanning Tree)

레이저스캐너 기반 도심 도로 환경 차량 인지/추적 알고리즘 개발, 김선욱, 서울대, 2017

Wang D.Z., Posner I., Newman P., 2012, "What could move? Finding cars, pedestrians and bicyclists in 3D laser data." Robotics and Automation (ICRA), IEEE International Conference.

5. RNNN(Redially Bounded nearest neighbor)

Lidar based real time multiple vehicle detection and tracking, Zhongzhen Luo, 2016

6. Octree-based region growing for point cloud segmentation

1. Model fitting-based methods
2. Region growing-based methods
3. Clustering feature-based methods

9. etc

비 지면 포인트들을 그룹화

상황에 따라 지표면에서의 높이가 2m 이하인 것들만 Clustering 대상으로 삼기도 한다. (사람은 일반적으로 2m 이하 )