Fig. 2

An illustration of the ground segmentation method. On the left, points that passed the filter are indicated by green, and points between the dashed lines are segmented ground points. On the right, points surrounded by ellipses are considered by \(\textbf{S}_v\) and \(\textbf{S}_u\) filters when computing the point marked with a star. A plane is fitted to each sector of points. Note that \(\textbf{R} = \sqrt{\textbf{X}^2 + \textbf{Y}^2}\), i.e., the distance to the z-axis