Algorithm 1: RPOS-LSBA Features Etraction

SEGMENTATION rpos_seg$(r_{th},{\alpha }_{max})$ // position and orientation thresholds for each datapoint $d_i$ in scan S do     if position_and_orientation $<(r_{th},{\alpha }_{max})$ then         ${\varphi }_n\leftarrow d_i$     end if end for return$\varphi$ // creates and return Bleak segments B-SPLINE APPROXIMATION lsba_curve$\left(\varphi \right)$ for each segment ${\varphi }_n$ in scan S do     $BSplines=$ least_square_Approx$(P_c,Orde{r}_{curve},{\varphi }_n)$ // no. of control points $P_c$ end for return$BSplines$