Sloped Terrain Segmentation for Autonomous Drive Using Sparse 3D Point Cloud
Figure 3
Voxel labeling in lowermost heightmap. Each square represents a voxel, which has height and label attributes. (a) Initial state of lowermost heightmap before executing voxel labeling. (b) Execute VerticalLabeling for 0th and 1st columns independently. (c) Execute HorizonalLabeling for the two columns. (d) After executing VerticalLabeling for 2nd column, execute (c) for 1st and 2nd columns.
