FugSeg: Fast Uncertainty-aware Ground Segmentation for 3D Point Cloud
In LiDAR-based environment perception systems, ground segmentation is a key preprocessing step supporting various applications such as mapping and navigation. Although extensively studied, problems such as reflection noise and isolated ground remain challenging. To address these issues, we propose FugSeg, a fast uncertainty-aware ground segmentation method. A polar grid map is adopted as the point cloud representation to ensure generalizability across LiDAR types. Building on that, we develop a within- and cross-segment ground labeling strategy that identifies not only directly visible ground cells but also those that are isolated or occluded. During this process, an adaptive slope is int...
| Authors | Yu Li, Volker Schwieger |
|---|---|
| Primary category | cs.CV |
| Published | 9 May 2026 |
| Last updated at source | 9 May 2026 |
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