Fig. 1. Vector angle constraints

Fig. 2. Improved Euclidean clustering algorithm

Fig. 3. IMU and LIDAR

Fig. 4. Some cloud data sets of different complex scenarios

Fig. 5. Comparison diagram of different clustering methods in complex scenarios

Fig. 6. Clustering effect comparison of adjacent pedestrian\ car (7 m single frame)

Fig. 7. Example of human point cloud for VLP-16 scans at different distances

Fig. 8. Clustering effect comparison of adjacent pedestrian\ pedestrian (11 m)

Fig. 9. Clustering effect comparison of adjacent pedestrian\ pedestrian (15 m)

Fig. 10. Clustering effect comparison of adjacent pedestrian\ pedestrian (19 m)

Fig. 11. Comparison of three methods

Fig. 12. Time-consuming comparison plots of different clustering methods