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https://github.com/wangx1996/Lidar-Ground-Segmantation-Paper-List

Collect paper about ground segmentation in 3D point cloud.
https://github.com/wangx1996/Lidar-Ground-Segmantation-Paper-List

ground-segementation lidar paper-reading pointcloud

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Collect paper about ground segmentation in 3D point cloud.

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# Lidar-Ground-Segmantation-Paper-List

Collect paper about ground segmentation in 3D point cloud. 



## Geometry Based

* Real-time Road Detection in 3D Point Clouds using Four Directions Scan Line Gradient Criterion [[pdf](https://www.semanticscholar.org/paper/Real-time-Road-Detection-in-3-D-Point-Clouds-using-Li-QingquanLi/fb3ef3a51e62baca7d8a28aeb61c684c68c5ce01)]



* Fast Segmentation of 3D Point Clouds for Ground Vehicles [[pdf](http://ieeexplore.ieee.org/document/5548059/)] [[code](https://github.com/lorenwel/linefit_ground_segmentation)]



* A Multi-Modal System for Road Detection and Segmentation [[pdf](https://ieeexplore.ieee.org/document/6856466)]



* The Ground Segmentation of 3D LIDAR Point Cloud with the Optimized Region Merging [[pdf](http://ieeexplore.ieee.org/document/6799834/)]



* 3D Ground Point Classification for Automotive Scenarios [[pdf](https://ieeexplore.ieee.org/document/8569898/)]



* Robust Ground Plane Detection from 3D Point Clouds [[pdf](http://ieeexplore.ieee.org/document/6987936/)]



* Aggregate Road Surface based Environment Representation using Digital Elevation Maps [[pdf](http://ieeexplore.ieee.org/document/6936967/)]



* Spherical Coordinates Based Methods of Ground Extraction and Objects Segmentation Using 3-D LiDAR Sensor [[pdf](https://ieeexplore.ieee.org/document/7384616/)]



* Fast Segmentation of 3D Point Clouds: A Paradigm on LiDAR Data for Autonomous Vehicle Applications [[pdf](http://ieeexplore.ieee.org/document/7989591/)] [[single plane](https://github.com/AbangLZU/plane_fit_ground_filter)] [[multi plane](https://github.com/wangx1996/LIDAR-Segmentation-Based-on-Range-Image)]



* Fast Multi-Pass 3D Point Segmentation Based on a Structured Mesh Graph for Ground Vehicles [[pdf](https://ieeexplore.ieee.org/document/8500552/)]



* Real-time Ground Filtration Method for a Loader Crane Environment Monitoring System Using Sparse LIDAR Data [[pdf](http://ieeexplore.ieee.org/document/8001158/)]



* Ground Plane Estimation from Sparse LIDAR Data for Loader Crane Sensor Fusion System [[pdf](http://ieeexplore.ieee.org/document/8046916/)]



* A Reliable Road Segmentation and Edge Extraction for Sparse 3D Lidar Data [[pdf](https://ieeexplore.ieee.org/document/8500486/)]



* A Slope-robust Cascaded Ground Segmentation in 3D Point Cloud for Autonomous Vehicles [[pdf](https://ieeexplore.ieee.org/document/8569534)] [[Python](https://bitbucket.org/n-patiphon/slope_robust_ground_seg)] [[c++](https://github.com/wangx1996/Cascaded-Lidar-Ground-Segmentation)]



* Dynamic Road Surface Detection Method based on 3D Lidar [ [pdf](extension://bfdogplmndidlpjfhoijckpakkdjkkil/pdf/viewer.html?file=http%3A%2F%2Fwww.csroc.org.tw%2Fjournal%2FJOC30_6%2FJOC3006-27.pdf) ]



* On Enhancing Ground Surface Detection from Sparse Lidar PointCloud [[pdf](https://ieeexplore.ieee.org/document/8968135/)]

* Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor [[pdf](https://urserver.kaist.ac.kr/publicdata/patchwork/RA_L_21_patchwork_final_submission.pdf)][[code](https://github.com/LimHyungTae/patchwork)]

* Fast Ground Segmentation for 3D LiDAR Point Cloud Based on Jump-Convolution-Process [[pdf](https://www.mdpi.com/2072-4292/13/16/3239/xml) [[code](https://github.com/wangx1996/Fast-Ground-Segmentation-Based-on-JPC)]



#### occupancy map



* A Probability Occupancy Grid Based Approach for Real-Time LiDAR Ground Segmentation [[pdf](https://ieeexplore.ieee.org/document/8666170/)]



## Machine learning Based



#### GPR



* 3D LIDAR-based Ground Segmentation [[pdf](http://ieeexplore.ieee.org/document/6166587/)]



* On the Segmentation of 3D LIDAR Point Clouds [[pdf](http://ieeexplore.ieee.org/document/5979818/)] [[code](https://github.com/alualu628628/Gaussian-Process-Incremental-Sample-Consensus-GP-INASC)]



* Road Detection through CRF based LiDAR-Camera Fusion [[pdf](https://ieeexplore.ieee.org/document/8793585/)]



#### CRF



* Ground Estimation and Point Cloud Segmentation using SpatioTemporal Conditional Random Field [[pdf](http://ieeexplore.ieee.org/document/7995861/)]



## Deep learning Based



* CNN for Very Fast Ground Segmentation in Velodyne LiDAR Data [[pdf](https://arxiv.org/abs/1709.02128)]



* Multi-Stage Residual Fusion Network for LIDAR-Camera Road Detection* [[pdf](https://ieeexplore.ieee.org/document/8813983)]



* Real-Time Road Segmentation Using LiDAR Data Processing on an FPGA [[pdf](https://arxiv.org/abs/1711.02757)]



* GndNet: Fast Ground Plane Estimation and Point Cloud Segmentation for Autonomous Vehicles [[code](https://github.com/anshulpaigwar/GndNet)]