Algorithm 1. Pseudo-code for LiDAR to BEV conversion

start:   PointCloud2BEV function (points) input variables:   Resolution = 0.1   Side range = (−20, 20) # left side 20 m, right side 20 m view   Forward range = (0, 50) # we do not consider points that are behind the vehicle   Height range = (−1.8, 1.25) # assuming the position of LiDAR to be on 1.25 m processing:   Creates a 2D birds eye view representation of the point cloud data   Extract the points for each axis   Three filters for the front-to-back, side-to-side, and height ranges   Convert to pixel position values based on resolution   Shift pixels to have minimum be at the (0, 0)   Assign height values between a range (−1.8, 1.25 m)   Rescale the height values between 0 and 255   Fill the pixel values in an image array output:   Return BEV image