Removing noise in a Curvature profile, in case of a trajectory consisting of Line and circular arcs.

Hi,

I have a 2D Trajectory as shown below:

Using the function LineCurvature2D.m, I found the curvature profile for the above trajectory.

It is as shown below:

But the above curvature profile is really noisy.

I am actually, trying to find the critical points for my trajectory.Critical points are the points,where Line is changed to Arc.

In General, critical points are obtained by finding the local maxima of the curvature profile.

But in my case,I have really noisy data and hence,I am not able to find the peaks exactly.I Have read some papers,where researchers are using some kind of "Quadra filter" to manage this noisy curvature profile data.

I would be really glad,if someone can suggest me the approach in my case.

Please feel free to suggest any other approach,through which,I can find correct breakpoints.

In the above trajectory,I would expect to find 4 breakpoints,as I have two circular arcs and 3 straight lines,like below:

Blue circles indicate the breakpoints in the below Image.

Please help! Thanks!