“…With the progressive development of intelligent business, such as intelligent transportation and autonomous driving, abundant types of sensors, including Radar, LIDAR and Depth/RGB cameras, will be mounted on the communications equipment or the infrastructures [3]- [4]. These sensors can be explored to assist many communications tasks, such as beam alignment [5]- [8], channel covariance matrix estimation [9], as well as the prediction for blockage, base station (BS) handover, as well as received power [10]- [11]. Among them, the visual perception by cameras has drawn much attention recently, due to its universality, low cost, and high resolution compared with the Radar and LIDAR.…”