Linear time DBSCAN for sorted 1D data and laser range scan segmentation

Abstract

This paper introduces new algorithm for line extraction from laser range data including methodology for efficient computation. The task is cast to series of one dimensional problems in various spaces. A fast and simple specialization of DBSCAN algorithm is proposed to solve one dimensional subproblems. Experiments suggest that the method is suitable for real-time applications, handles noise well and may be useful in practice.