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

Table 2

Precision comparison among baseline, -Cooper, and proposed algorithm on a receiver.

Scenario	Baseline (vehicle 1)		Baseline (vehicle 2)		-Cooper [5]		Ours
	Near	Far	Near	Far	Near	Far	Near	Far
Multilane roads	66.66%	22.22%	16.67%	0.00%	65.51%	42.78%	71.43%	37.50%
Road intersection 1	75.00%	42.86%	66.67%	36.36%	80.21%	46.42%	85.71%	50.00%
Road intersection 2	N/A	25.00%	N/A	40.00%	N/A	36.41%	N/A	48.81%