An adaptive algorithm for embedded real-time point cloud ground segmentation. Marcon dos Santos, G., Ferrao, V., Noronha Vinhal, C. D., & Cruz Junior, G. In 2015 International Conference of Soft Computing and Pattern Recognition, SoCPaR 2015, pages 76–83, Fukuoka, Japan, November, 2015.
An adaptive algorithm for embedded real-time point cloud ground segmentation [pdf]Paper  bibtex   

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