Introduction
Related works
Ground segmentation algorithm
System overview
Processing in the vertical direction
Processing in the horizontal direction
Dividing a scanline into level-2 lines
Classification and labeling of level-2 lines
Label updating based on point-type distribution in horizontal direction
Processing in both directions
Experiments and analysis
Experimental method
Experimental results
Experimental analysis
Terrain | Total number of frames | TPR of fast ground segmentation [26] (%) | TPR of proposed method (%) |
---|---|---|---|
Flat | 47 | 94.61 | 94.71 |
Sloping | 84 | 91.25 | 91.60 |
Sloping and bumpy | 286 | 63.14 | 81.10 |