Peixiang ZHANG, Qi WANG, Renjing GAO, Yang XIA, Zhenzhong WAN. Ground point cloud segmentation based on local threshold adaptive method[J]. Optics and Precision Engineering, 2023, 31(17): 2564

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- Optics and Precision Engineering
- Vol. 31, Issue 17, 2564 (2023)

Fig. 1. Schematic diagram of point cloud adaptive threshold ground segmentation algorithm model

Fig. 2. Polar division of point cloud data

Fig. 3. Vehicle driving road map

Fig. 4. Effect of distribution of regional bi points on d max

Fig. 5. Point cloud distribution hypothesis map

Fig. 6. Flowchart of seed point set update

Fig. 7. Flowchart of ground point segmentation

Fig. 8. Segmentation of semantic KITTI road information

Fig. 9. Binary division result of semantic KITTI dataset

Fig. 10. Segmentation result of proposed algorithm

Fig. 11. Point cloud segmentation results of different algorithms
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Table 1. Comparison of segmentation results of Semantic KITTI binary dataset

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