FugSeg: Fast Uncertainty-aware Ground Segmentation for 3D Point Cloud

ArXi:2605.08952v1 Announce Type: new In LiDAR-based environment perception systems, ground segmentation is a key preprocessing step ing various applications such as mapping and navigation. Although extensively studied, problems such as reflection noise and isolated ground remain challenging. To address these issues, we propose FugSeg, a fast uncertainty-aware ground segmentation method. A polar grid map is adopted as the point cloud representation to ensure generalizability across LiDAR types.