Features describing shapes of spatially distributed data sets

Features of the shape of a spatially distributed data set are described. One aspect of the present disclosure relates to a computer-implemented method of determining a skeleton of point cloud data in an automotive system to monitor an environment of a vehicle. In order to determine the skeleton, the method of determining the center point of the point cloud data is performed a plurality of times, each execution using different values for one or more starting parameters. The method may produce different center points from selected values of one or more starting parameters. The resulting plurality of center points are interpreted as a skeleton of the point cloud data. 描述空间分布数据集的形状的特征。本公开的一个方面涉及一种在汽车系统中确定点云数据的骨架以监测车辆的环境的计算机实现的方法。为了确定骨架，多次执行确定点云数据的中心点的方法，每次执行都将不同的值用于一个或更多个起始参数。该方法可以根据一个或更多个起始参数的选定值产生不同的中心点。所得到的多个中心点被解释为点云数据的骨架。