The Light detection and ranging (LiDAR) sensor is used for perceiving the environment of an autonomous vehicle. LiDAR data or point cloud is processed to get the obstacles and their speed around an autonomous vehicle. Based on the information retrieved from LiDAR data and the data from other sensors, real-time decisions are taken for the proper navigation. Hence, the time taken in LiDAR data processing should be minimized. One of the important steps for LiDAR data processing is the segmentation of the obstacles. In this paper, we present a quantitative comparison between two different approaches for point cloud segmentation, Euclidean distance-based Cluster Extraction and Cylindrical range image-based method. Based on the simulation performed on ROS (Robot Operating System) platform, we found that the second method is much faster as compared to the first method. In addition to that, the second method can perform proper segmentation at a larger distance from the sensor. © 2021 IEEE.

P Rajalakshmi

Department of Electrical Engineering

B. Anand

V. Barsaiyan

M. Senapati

Indian Institute of Technology Hyderabad (IITH) is a premier institute of science and technology established in 2008. IITH has been consistently ranked in the&nbsp;<a href="https://iith.ac.in/reports/" rel="noopener noreferrer">top 10 institutes</a>&nbsp;in India for Engineering&nbsp;<a href="https://www.nirfindia.org/2021/EngineeringRanking.html" rel="noopener noreferrer" target="_blank">according to NIRF</a>&nbsp;making it one of the most coveted schools for science and technology in the country.

IITH offers&nbsp;<a href="https://iith.ac.in/academics/under-graduate/">undergraduate programs</a>&nbsp;in all the classical engineering disciplines, applied sciences, design, as well as several modern interdisciplinary areas. Students are given a flexibility to explore a broad set of areas, and potentially pursue a minor or double major in a discipline that is not their own. Students who wish to seek a deeper understanding of their own discipline are strongly encouraged to get involved in cutting-edge research with the help of a faculty to mentor them, and earn an Honors in their own field.

The very foundation of IIT Hyderabad is based on&nbsp;<a href="https://iith.ac.in/research/">research and innovation</a>. The vibrant research culture is evident from the number of patents and publications that IITH produces consistently every year. IITH offers&nbsp;<a href="https://iith.ac.in/academics/programmes-offered/">graduate programs</a>&nbsp;at both a masters, and a doctoral level, in several diverse areas. There are separate programs for technology, design, science, and liberal arts. The&nbsp;<a href="https://iith.ac.in/academics/post-graduate/">MTech program</a>&nbsp;is offered in various modes and durations to cater to the ever-growing need of postgraduate level professionals in the country.

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IITH creates a unique holistic ecosystem for education that offers interactive learning, a very flexible academic structure, cutting-edge research, strong industry collaboration, and entrepreneurship. This is an environment which enables students and faculty to translate their dreams into realities.

Journal	Data powered by TypesetIEEE Vehicular Technology Conference
Publisher	Data powered by TypesetInstitute of Electrical and Electronics Engineers Inc.
ISSN	15502252