Journal of Information Processing Systems

Korea Information Processing Society (한국정보처리학회)
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A Fast Ground Segmentation Method for 3D Point Cloud

  • Received : 2016.09.08
  • Accepted : 2017.04.10
  • Published : 2017.06.30
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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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