Ground Segmentation Algorithm for Sloped Terrain and Sparse LiDAR Point Cloud
Distinguishing obstacles from ground is an essential step for common perception tasks such as object detection-and-tracking or occupancy grid maps. Typical approaches rely on plane fitting or local geometric features, but their performance is reduced in situations with sloped terrain or sparse data....
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2021-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9548034/ |
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