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
- 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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