A Particle Filter Localization Method Using 2D Laser Sensor Measurements and Road Features for Autonomous Vehicle

Table 2

Pseudocode of the Iterative Endpoint Fit algorithm.

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1:   choose cluster

2:   while

3:   find endpoint of line

4:   detect point with maximum distance

5:   if then split

6:    and

7:   else

8:   if last group break

9:   go to next group

10:   end

11:   end

12:   when all sets in S have been checked, merge

   collinear segments

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