Breakpoint Detector — Fixed Threshold

➕ 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

Distance threshold D_max (m) 0.30

Show threshold circle

focus pair (p_n-1→p_n) –

Color = cluster Gray = noise (below min size) Walls / obstacles (ground truth) Threshold circle · fixed radius D_max around pₙ₋₁ White dot = LiDAR origin · first-quadrant 90° FoV · 1° step · point inside the circle = same cluster · outside = breakpoint At far corners/walls, when point spacing exceeds D_max, even a single wall splits into several pieces (over-segmentation)