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. 2024 Jun 16;24(12):3895. doi: 10.3390/s24123895
Algorithm 1 Sensor data fusion
  •   1:

    Receive lidar point cloud data → laser

  •   2:

    Receive camera point cloud data → camera

  •   3:

    laser → fusion

  •   4:

    int(length(laser.data) − length(camera.data))/2 → index_start

  •   5:

    for index_camera from 0 to length(camera.data) do

  •   6:

        index_start + index_camera → index_laser

  •   7:

        laser[index_laser] → laser_data

  •   8:

        camera[index_camera] → camera_data

  •   9:

        if camera_data < laser_data then

  • 10:

            camera → fusion

  • 11:

        end if

  • 12:

        if fusion is ∞ then

  • 13:

              10 → fusion

  • 14:

        end if

  • 15:

        if fusion is NAN then

  • 16:

              0 → fusion

  • 17:

        end if

  • 18:

    end for