Fig. 1. Diagram of the obstacle point cloud octree-based space division

Fig. 2. Experimental dataset. (a) Two-dimensional scene diagram; (b) Three-dimensional point cloud; (c) Elevation rendering

Fig. 3. Intensity histogram of the experimental dataset

Fig. 4. Obstacle point cloud classification results in the experimental area (vertical view)

Fig. 5. Obstacle point cloud recognition results in the experimental area (vertical view)

Fig. 6. Representative obstacle recognition results in the experimental area (vertical view)

Fig. 7. True value diagram of obstacle labeling in the experimental area