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Table 1 Comparison of average processing time per frame

From: Enhanced ground segmentation method for Lidar point clouds in human-centric autonomous robot systems

Method

Average processing time per frame (ms)

Fast ground segmentation [26]

4.7

Voxel based ground segmentation [19]

19.31

Loopy belief propagation based ground segmentation [25]

1000

Proposed method

6.9