{"id":"https://openalex.org/W4377705837","doi":"https://doi.org/10.1109/icara56516.2023.10126038","title":"A Novel Framework for Ground Segmentation Using 3D Point Cloud","display_name":"A Novel Framework for Ground Segmentation Using 3D Point Cloud","publication_year":2023,"publication_date":"2023-02-10","ids":{"openalex":"https://openalex.org/W4377705837","doi":"https://doi.org/10.1109/icara56516.2023.10126038"},"language":"en","primary_location":{"id":"doi:10.1109/icara56516.2023.10126038","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icara56516.2023.10126038","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","raw_type":"proceedings-article"},"type":"article","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/A5100407972","display_name":"Xu Wang","orcid":"https://orcid.org/0009-0006-5604-8232"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xu Wang","raw_affiliation_strings":["Intelligence & Innovation Research Institute,China North Artificial,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Intelligence & Innovation Research Institute,China North Artificial,Beijing,China","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112591845","display_name":"Huachao Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huachao Yu","raw_affiliation_strings":["Intelligence & Innovation Research Institute,China North Artificial,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Intelligence & Innovation Research Institute,China North Artificial,Beijing,China","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005434032","display_name":"Caixia Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Caixia Lu","raw_affiliation_strings":["Intelligence & Innovation Research Institute,China North Artificial,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Intelligence & Innovation Research Institute,China North Artificial,Beijing,China","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100665614","display_name":"Xueyan Liu","orcid":"https://orcid.org/0000-0001-8918-0148"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueyan Liu","raw_affiliation_strings":["Intelligence & Innovation Research Institute,China North Artificial,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Intelligence & Innovation Research Institute,China North Artificial,Beijing,China","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100371795","display_name":"Xing Cui","orcid":"https://orcid.org/0000-0002-8771-5898"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xing Cui","raw_affiliation_strings":["Intelligence & Innovation Research Institute,China North Artificial,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Intelligence & Innovation Research Institute,China North Artificial,Beijing,China","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002980949","display_name":"Xijun Zhao","orcid":"https://orcid.org/0000-0003-2090-3648"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xijun Zhao","raw_affiliation_strings":["Intelligence & Innovation Research Institute,China North Artificial,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Intelligence & Innovation Research Institute,China North Artificial,Beijing,China","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111181163","display_name":"Bo Su","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Su","raw_affiliation_strings":["Intelligence & Innovation Research Institute,China North Artificial,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Intelligence & Innovation Research Institute,China North Artificial,Beijing,China","institution_ids":["https://openalex.org/I4210100255"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100407972"],"corresponding_institution_ids":["https://openalex.org/I4210100255"],"apc_list":null,"apc_paid":null,"fwci":0.1257,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.40452061,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"316","last_page":"323"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9968000054359436,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.8505720496177673},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7380983233451843},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7077655792236328},{"id":"https://openalex.org/keywords/scale-space-segmentation","display_name":"Scale-space segmentation","score":0.6015596985816956},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.5824604034423828},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5704407095909119},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5543868541717529},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.5273593068122864},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5035423636436462},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46524226665496826},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.45203179121017456},{"id":"https://openalex.org/keywords/segmentation-based-object-categorization","display_name":"Segmentation-based object categorization","score":0.4419505298137665},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.42964062094688416},{"id":"https://openalex.org/keywords/region-growing","display_name":"Region growing","score":0.41036003828048706},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.35497748851776123},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.34965115785598755},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.24102625250816345},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.15738341212272644},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14468511939048767},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.12670841813087463},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.10911837220191956},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08903703093528748}],"concepts":[{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.8505720496177673},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7380983233451843},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7077655792236328},{"id":"https://openalex.org/C65885262","wikidata":"https://www.wikidata.org/wiki/Q7429708","display_name":"Scale-space segmentation","level":4,"score":0.6015596985816956},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.5824604034423828},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5704407095909119},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5543868541717529},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.5273593068122864},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5035423636436462},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46524226665496826},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.45203179121017456},{"id":"https://openalex.org/C25694479","wikidata":"https://www.wikidata.org/wiki/Q7446278","display_name":"Segmentation-based object categorization","level":5,"score":0.4419505298137665},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.42964062094688416},{"id":"https://openalex.org/C206824153","wikidata":"https://www.wikidata.org/wiki/Q1169834","display_name":"Region growing","level":5,"score":0.41036003828048706},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.35497748851776123},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.34965115785598755},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.24102625250816345},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15738341212272644},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14468511939048767},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.12670841813087463},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.10911837220191956},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08903703093528748}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icara56516.2023.10126038","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icara56516.2023.10126038","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7099999785423279}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1568746402","https://openalex.org/W2051610568","https://openalex.org/W2079537345","https://openalex.org/W2132360065","https://openalex.org/W2154844948","https://openalex.org/W2175683840","https://openalex.org/W2565029242","https://openalex.org/W2737444374","https://openalex.org/W2741560390","https://openalex.org/W2904274854","https://openalex.org/W2905547042","https://openalex.org/W2909908358","https://openalex.org/W2963459246","https://openalex.org/W2968296999","https://openalex.org/W2991216808","https://openalex.org/W3003651427","https://openalex.org/W3010940579","https://openalex.org/W3082486589","https://openalex.org/W3093967753","https://openalex.org/W3176159010","https://openalex.org/W3182476454","https://openalex.org/W3193352424","https://openalex.org/W4200457877"],"related_works":["https://openalex.org/W2394279717","https://openalex.org/W2364730859","https://openalex.org/W3144569342","https://openalex.org/W2386644571","https://openalex.org/W2551987074","https://openalex.org/W2372421320","https://openalex.org/W2185902295","https://openalex.org/W2531745538","https://openalex.org/W2353364291","https://openalex.org/W2055202857"],"abstract_inverted_index":{"Ground":[0],"segmentation":[1,15,33,99,111,130,153],"is":[2,48,76,90,113,132],"an":[3],"essential":[4],"preprocessing":[5],"task":[6],"for":[7,83,121],"autonomous":[8],"driving.":[9],"Most":[10],"existing":[11],"3D":[12],"LiDAR-based":[13],"ground":[14,19,23,32,118],"methods":[16,27],"segment":[17],"the":[18,52,61,80,87,94,105,109,117,125,129,135,140,146],"by":[20,67,104,134,155],"fitting":[21],"a":[22,45,68,72,97],"model.":[24,107],"However,":[25],"these":[26,55],"may":[28],"fail":[29],"to":[30,50,78,92,115],"achieve":[31,150],"in":[34,60,124],"some":[35],"challenging":[36],"terrains,":[37],"such":[38],"as":[39],"slope":[40],"roads.":[41],"In":[42],"this":[43],"paper,":[44],"novel":[46],"framework":[47],"proposed":[49,159],"improve":[51],"performance":[53],"of":[54],"methods.":[56],"First,":[57],"vertical":[58],"points":[59,82],"point":[62],"cloud":[63],"are":[64],"filtered":[65],"out":[66],"gradient-based":[69],"method.":[70],"Second,":[71],"polar":[73],"grid":[74,123,126,136],"map":[75],"built":[77],"extract":[79],"seed":[81],"model":[84,93],"fitting.":[85],"Moreover,":[86],"fitting-based":[88,147],"method":[89,148],"used":[91,114],"ground.":[95],"And":[96],"coarse":[98,110],"result":[100,112,131],"can":[101,149],"be":[102],"obtained":[103],"fitted":[106],"Next,":[108],"update":[116],"height":[119],"value":[120],"each":[122],"map.":[127,137],"Finally,":[128],"refined":[133],"Experiments":[138],"on":[139],"SemanticKITTI":[141],"dataset":[142],"have":[143],"shown":[144],"that":[145],"more":[151],"accurate":[152],"results":[154],"integrating":[156],"with":[157],"our":[158],"framework.":[160]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}