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

Table 3

Statistical features.

Index	Description	Formula
f60	Standard deviation between 3D points and mean center [13]
f61	Standard deviation between the horizontal projection points and mean center
f62	Mean deviation between the horizontal projection points and median point
f63	Second central moment at horizontal plane (with the mean center )
f64	Third central moment at horizontal plane (with the mean center )
f65	Fourth central moment at horizontal plane (with the mean center )
f66	Mean reflection intensity
f67	Standard deviation of reflection intensity
f68	The residual ratio of mean distances between the points at each block area and the long axis of the fitting rectangle