Sloped Terrain Segmentation for Autonomous Drive Using Sparse 3D Point Cloud

Pseudocode 1

Building lowermost heightmap.

(1) function BuildLowermostHeightmap(𝐹)

(2)    foreach 𝑣 in F do

(3)    if 𝑣_𝑦<𝐻[𝑣] then 𝐻[𝑣]←𝑣_𝑦

(4)    end

(5)    return 𝐻

(6) end