Pillar-Based Cooperative Perception from Point Clouds for 6G-Enabled Cooperative Autonomous Vehicles

Algorithm 1

Object list fusion based on weightbox.

 Data: Object list from cloud and object list from vehicle

 Result: Object list

1 List , initialization

/^★Remove the objects which are out of range of the vehicle _★/

2 while index in List do

3  if

   then

4    remove

 /^★Storage the objects in same location to  _★/

5 while j in List do

  // is the threshold of IOU

6  if IOU sthen

7   

8  else

9   Insert to

10   

 /^★Calculate the final bounding box and loction of object in List  _★/

11 while in List do

//Weighted Average

12  

13  

14 RETURN