A fast, robust, and self-adaptive ground segmentation algorithm on 3D point cloud. An extension of Patchwork (RA-L'21 with IROS'21).

Abstract: Ground segmentation is crucial for terrestrial mobile platforms to perform navigation or neighboring object recognition. Unfortunately, the ground is not flat, as it features steep slopes; ...

You may need to install Eigen, numpy, and Open3D. Open3D is used for point cloud visualization. @inproceedings{lee2022patchworkpp, title={{Patchwork++: Fast and ...

Abstract: Ground segmentation is a fundamental task in the field of 3D perception using 3D LiDAR sensors. Several ground segmentation methods have been proposed, but they often suffer from ...

TOKYO -- The base of Tokyo Skytree in the capital's Sumida Ward has long been home to many small factories. Walking along a narrow alley in the neighborhood, backstreet manufactories and workshops can ...