Ground Segmentation From Large-Scale Terrestrial Laser Scanner Data of Industrial Environments.

In many 3-D perception applications, ground segmentation is a necessary preprocessing phase together with point cloud cleaning and outlier removal. This letter presents a method for ground segmentation in large-scale point clouds of industrial environments acquired using a terrestrial laser scanner (TLS). TLSs provide high-precision, dense 3-D measurements, and therefore, such instruments are beco...