Fig. 1. Point cloud diagram of the indoor obstacles

Fig. 2. Principle of the two-dimensional lidar data acquisition

Fig. 3. Model of the distance resolution threshold

Fig. 4. Data distribution density of the lidar

Fig. 5. Environment of the indoor clustering experiment

Fig. 6. Clustering results of different methods (indoor). (a) Original data; (b) linear threshold method; (c) improved DBSCAN algorithm; (d) our method

Fig. 7. Environment of the outdoor clustering experiment

Fig. 8. Clustering results of different methods (outdoor). (a) Original data; (b) linear threshold method; (c) improved DBSCAN method; (d) our method