Figure 5
Two side-by-side visualizations encompass data captured by a Velodyne LIDAR sensor. On the left is a visualization of raw point cloud data from a Velodyne V L P-16 LIDAR sensor. Displayed on a dark gray background, the three-dimensional point cloud consists of numerous small points arranged in complex patterns. White points form concentric circles at the center of the view and outline various horizontal and vertical structures, while sparse green points are scattered throughout. On the right is a filtered point cloud visualization from a LIDAR sensor. Sparse white points make up the main distribution, outlining structures and spatial features on a dark gray background. Scattered green points are present, and a faint grid is visible at the center. Both views represent a top-down perspective of an environment, highlighting object spatial distribution and structural outlines.Velodyne VLP-16 LIDAR raw data (left). Filtered point cloud (right). Source: Authors' own work