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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