High-Precision Motion Compensation for LiDAR Based on LiDAR Odometry

Algorithm 2

Euclidean clusters and extraction center.

Input: Point cloud(C)={ , ... } and distance threshold

Output: Point set(P)={... } and center point =(, ), which = , = , =

   create P {}

   create K {}

   forc in Cand cnot in (P) do

   find k nearest neighbour

for k in K do

ifandcnot in (P)then

      P.append(k)

end if

   calculate M=

return set(P), center M