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

Algorithm 2

Octomap fusion on the edge.

Data: Octomap from Vehicles

Result: Octomap

1  initialization;

2 while i do

3  i=i+1

4   reconstruction based on Eq. (4)

  // Octomap Fusion(, )

5  for Leaf node in do

6   if not in then

7    Add node:

8   else

9    The depth of is

10    for Leaf node in do

11     The depth of is

12     ifthen

13      

14      else && is

      then

15       Add child node to :

        ;

16       

17     else if && is

     then

18      Add child node to :

19      

20 RETURN