Phuong Chu, Seoungjae Cho, Sungdae Sim, Kiho Kwak, Kyungeun Cho, Journal of Information Processing Systems Vol. 13, No. 3, pp. 491-499, Jun. 2017  

https://doi.org/10.3745/JIPS.02.0061
Keywords: 3D point cloud, Ground Segmentation, Light Detection and Ranging, Start-Ground Point, Threshold Point
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Abstract

In this study, we proposed a new approach to segment ground and nonground points gained from a 3D laser range sensor. The primary aim of this research was to provide a fast and effective method for ground segmentation. In each frame, we divide the point cloud into small groups. All threshold points and start- ground points in each group are then analyzed. To determine threshold points we depend on three features: gradient, lost threshold points, and abnormalities in the distance between the sensor and a particular threshold point. After a threshold point is determined, a start-ground point is then identified by considering the height difference between two consecutive points. All points from a start-ground point to the next threshold point are ground points. Other points are nonground. This process is then repeated until all points are labelled

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