{"id":"https://openalex.org/W4387713482","doi":"https://doi.org/10.1109/raiic59453.2023.10280933","title":"Robust Ground Segmentation in 3D Point Cloud for Autonomous Driving Vehicles","display_name":"Robust Ground Segmentation in 3D Point Cloud for Autonomous Driving Vehicles","publication_year":2023,"publication_date":"2023-08-11","ids":{"openalex":"https://openalex.org/W4387713482","doi":"https://doi.org/10.1109/raiic59453.2023.10280933"},"language":"en","primary_location":{"id":"doi:10.1109/raiic59453.2023.10280933","doi":"https://doi.org/10.1109/raiic59453.2023.10280933","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/raiic59453.2023.10280933","pdf_url":null,"source":{"id":"https://openalex.org/S7407088044","display_name":"International Conference on Robotics, Artificial Intelligence and Intelligent Control (RAIIC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 2nd International Conference on Robotics, Artificial Intelligence and Intelligent Control (RAIIC)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060023984","display_name":"Sidong Wu","orcid":"https://orcid.org/0000-0001-8865-5797","observed_orcids":["https://orcid.org/0000-0001-8865-5797"]},"institutions":[{"id":"https://openalex.org/I24201400","display_name":"Chengdu University of Information Technology","ror":"https://ror.org/01yxwrh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I24201400"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sidong Wu","raw_affiliation_strings":["Chengdu University of Information Technology,School of Automation,Chengdu,China","School of Automation, Chengdu University of Information Technology, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chengdu University of Information Technology,School of Automation,Chengdu,China","institution_ids":["https://openalex.org/I24201400"]},{"raw_affiliation_string":"School of Automation, Chengdu University of Information Technology, Chengdu, China","institution_ids":["https://openalex.org/I24201400"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101208021","display_name":"Liuquan Ren","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I24201400","display_name":"Chengdu University of Information Technology","ror":"https://ror.org/01yxwrh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I24201400"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liuquan Ren","raw_affiliation_strings":["Chengdu University of Information Technology,School of Automation,Chengdu,China","School of Automation, Chengdu University of Information Technology, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chengdu University of Information Technology,School of Automation,Chengdu,China","institution_ids":["https://openalex.org/I24201400"]},{"raw_affiliation_string":"School of Automation, Chengdu University of Information Technology, Chengdu, China","institution_ids":["https://openalex.org/I24201400"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100577968","display_name":"Baoqing Du","orcid":"https://orcid.org/0009-0001-4788-5104","observed_orcids":["https://orcid.org/0009-0001-4788-5104"]},"institutions":[{"id":"https://openalex.org/I24201400","display_name":"Chengdu University of Information Technology","ror":"https://ror.org/01yxwrh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I24201400"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baoqing Du","raw_affiliation_strings":["Chengdu University of Information Technology,School of Automation,Chengdu,China","School of Automation, Chengdu University of Information Technology, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chengdu University of Information Technology,School of Automation,Chengdu,China","institution_ids":["https://openalex.org/I24201400"]},{"raw_affiliation_string":"School of Automation, Chengdu University of Information Technology, Chengdu, China","institution_ids":["https://openalex.org/I24201400"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041310127","display_name":"Jianying Yuan","orcid":"https://orcid.org/0000-0001-5357-2385","observed_orcids":["https://orcid.org/0000-0001-5357-2385"]},"institutions":[{"id":"https://openalex.org/I24201400","display_name":"Chengdu University of Information Technology","ror":"https://ror.org/01yxwrh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I24201400"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianying Yuan","raw_affiliation_strings":["Chengdu University of Information Technology,School of Automation,Chengdu,China","School of Automation, Chengdu University of Information Technology, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chengdu University of Information Technology,School of Automation,Chengdu,China","institution_ids":["https://openalex.org/I24201400"]},{"raw_affiliation_string":"School of Automation, Chengdu University of Information Technology, Chengdu, China","institution_ids":["https://openalex.org/I24201400"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I24201400"],"apc_list":null,"apc_paid":null,"fwci":0.7132,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.68880857,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"109","last_page":"114"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.43849998712539673,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.43849998712539673,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.24459999799728394,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.1080000028014183,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/ground-segmentation","display_name":"ground segmentation","score":0.9779999852180481},{"id":"https://openalex.org/keywords/3d-point-clouds","display_name":"3D point clouds","score":0.8849999904632568},{"id":"https://openalex.org/keywords/autonomous-driving","display_name":"autonomous driving","score":0.8830000162124634},{"id":"https://openalex.org/keywords/patchwork","display_name":"patchwork","score":0.7300000190734863},{"id":"https://openalex.org/keywords/vegetation-classification","display_name":"vegetation classification","score":0.47099998593330383},{"id":"https://openalex.org/keywords/lidar","display_name":"LiDAR","score":0.5870000123977661},{"id":"https://openalex.org/keywords/semantickitti","display_name":"SemanticKITTI","score":0.8889999985694885}],"concepts":[{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.7603009939193726},{"id":"https://openalex.org/C88764893","wikidata":"https://www.wikidata.org/wiki/Q1547722","display_name":"Ground plane","level":3,"score":0.7453053593635559},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7413312792778015},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6885854005813599},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6054534912109375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5961278080940247},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.5590819716453552},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.53193199634552},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.51695317029953},{"id":"https://openalex.org/C45347329","wikidata":"https://www.wikidata.org/wiki/Q5166604","display_name":"Convolution (computer science)","level":3,"score":0.4966509938240051},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.46196410059928894},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.45417994260787964},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.44860318303108215},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.398044228553772},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3365491032600403},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2348097860813141},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2302970588207245},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.18393036723136902},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.17074930667877197},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15766113996505737},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09629377722740173},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.07783624529838562},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/raiic59453.2023.10280933","doi":"https://doi.org/10.1109/raiic59453.2023.10280933","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/raiic59453.2023.10280933","pdf_url":null,"source":{"id":"https://openalex.org/S7407088044","display_name":"International Conference on Robotics, Artificial Intelligence and Intelligent Control (RAIIC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 2nd International Conference on Robotics, Artificial Intelligence and Intelligent Control (RAIIC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337572","display_name":"Engineering Laboratory","ror":"https://ror.org/03v61g875"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2904274854","https://openalex.org/W2946997817","https://openalex.org/W2965803762","https://openalex.org/W3016600231","https://openalex.org/W3108492605","https://openalex.org/W3129162343","https://openalex.org/W3130044230","https://openalex.org/W3152786524","https://openalex.org/W3158765037","https://openalex.org/W3173112500","https://openalex.org/W3176159010","https://openalex.org/W3193352424","https://openalex.org/W4312376118","https://openalex.org/W4313572763"],"related_works":["https://openalex.org/W4377705837","https://openalex.org/W4312376118","https://openalex.org/W3089266077","https://openalex.org/W4386821331","https://openalex.org/W4386766854","https://openalex.org/W2537159558","https://openalex.org/W2330097014","https://openalex.org/W7128619164","https://openalex.org/W3109458255","https://openalex.org/W4392030569"],"abstract_inverted_index":{"3D":[0,163],"LiDAR":[1],"sensor":[2,6],"is":[3,17,185,188,201,203],"a":[4,18],"key":[5],"for":[7,23],"autonomous":[8],"driving,":[9],"and":[10,20,46,88,114,129,138,144,194],"ground":[11,27,45,54,72,94,123],"segmentation":[12,28],"based":[13,33,65,85],"on":[14,34,66,86,168],"point":[15,164],"cloud":[16],"fundamental":[19],"essential":[21],"task":[22],"various":[24],"purposes.":[25],"Although":[26],"achieves":[29,179,195],"relatively":[30],"good":[31],"result":[32],"plane":[35,55,110],"fit,":[36],"but":[37],"misclassification":[38],"often":[39],"occurred":[40],"in":[41],"the":[42,81,92,103,136,145,155,162,169,172,183,199],"intersection":[43,99],"between":[44],"vertical":[47],"objects":[48],"or":[49],"place":[50],"due":[51],"to":[52,68,107,116,120,126,133,161],"inappropriate":[53],"fitting":[56],"threshold.":[57],"Therefore,":[58],"this":[59,76],"paper":[60],"proposed":[61,98],"an":[62,108],"improved":[63],"algorithm":[64],"Patchwork++":[67],"obtain":[69],"more":[70],"robust":[71],"segment":[73],"result.":[74],"In":[75],"paper,":[77],"we":[78],"first":[79],"estimate":[80],"segmented":[82],"section":[83],"planes":[84],"Patchwork++,":[87],"then":[89,102,142],"further":[90],"evaluate":[91],"estimated":[93],"points":[95,104,124,131],"using":[96],"our":[97,177],"re-evaluation":[100],"method,":[101,193],"were":[105],"mapped":[106],"image":[109],"with":[111],"three":[112],"channels,":[113],"assigned":[115,125,132],"different":[117],"channel":[118,128],"according":[119],"their":[121],"classification,":[122],"green":[127],"non-ground":[130],"red":[134],"channel,":[135],"G":[137],"R":[139],"channels":[140],"are":[141,148,158],"dilated":[143],"overlapping":[146],"regions":[147],"reclassified":[149],"by":[150],"jumping":[151],"convolution":[152],"operations,":[153],"finally":[154],"classification":[156],"results":[157,174],"reflected":[159],"back":[160],"cloud.":[165],"By":[166],"testing":[167],"SemanticKITTI":[170],"dataset,":[171],"experimental":[173],"showed":[175],"that":[176],"method":[178],"96.5%":[180],"F1-score":[181,197],"when":[182,198],"vegetation":[184,200],"excluded,":[186],"which":[187],"0.6%":[189],"higher":[190,205],"than":[191,206],"original":[192,207],"94.2%":[196],"added,":[202],"1.1%":[204],"method.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-11-05T12:25:35.769452","created_date":"2023-10-18T00:00:00"}
