Adaptive Breakpoint Detector (ABD)

➕ Place boxes

Box length (m) 1.20

Box width (m) 0.60

Box angle (deg) 0

turn on Place boxes, then click empty space = add · click a box = remove · drag = move

λ (deg) 10

σ (m) 0.010

Show threshold circle

focus pair (p_n-1→p_n) –

Color = cluster Gray = noise Walls / obstacles (ground truth) Threshold circle · D_max = r·sin(Δθ)/sin(λ−Δθ) + 3σ First-quadrant 90° FoV · 1° step · the point after the focus point inside the circle = same cluster · outside = breakpoint