{"paper":{"title":"Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Hyungtae Lim, Hyun Myung, Minho Oh","submitted_at":"2021-08-12T06:52:10Z","abstract_excerpt":"Ground segmentation is crucial for terrestrial mobile platforms to perform navigation or neighboring object recognition. Unfortunately, the ground is not flat, as it features steep slopes; bumpy roads; or objects, such as curbs, flower beds, and so forth. To tackle the problem, this paper presents a novel ground segmentation method called \\textit{Patchwork}, which is robust for addressing the under-segmentation problem and operates at more than 40 Hz. In this paper, a point cloud is encoded into a Concentric Zone Model-based representation to assign an appropriate density of cloud points among"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.05560","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2108.05560/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}