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

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/wcmc/volume-2022/3646272/figures/3646272.fig.006a.svgz" name="3646272.fig.006a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Raw point cloud</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/wcmc/volume-2022/3646272/figures/3646272.fig.006b.svgz" name="3646272.fig.006b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Cropping point cloud</td></tr><tr class="fig-image" id="c"><td><object data="https://static-preview.hindawi.com/articles/wcmc/volume-2022/3646272/figures/3646272.fig.006c.svgz" name="3646272.fig.006c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Removed ground plane</td></tr><tr class="fig-image" id="d"><td><object data="https://static-preview.hindawi.com/articles/wcmc/volume-2022/3646272/figures/3646272.fig.006d.svgz" name="3646272.fig.006d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Segment out obstacle</td></tr></table>

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interest (RoI) by removing outside points, (c) the points removed ground plane, and (d) the semantic results by using different colors.</div>

Wireless Communications and Mobile Computing

fig6

Figure 6

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