Table 2 Quantitative results using ground truth data
From: Enhanced ground segmentation method for Lidar point clouds in human-centric autonomous robot systems
Terrain | Total number of frames | TPR of fast ground segmentation [26] (%) | TPR of proposed method (%) |
|---|---|---|---|
Flat | 47 | 94.61 | 94.71 |
Sloping | 84 | 91.25 | 91.60 |
Sloping and bumpy | 286 | 63.14 | 81.10 |