A Review of Ground Segmentation Methods for Vehicle-Mounted LiDAR Point Clouds

With the rapid development of the autonomous driving industry, the robustness requirements for autonomous vehicle perception systems are increasing, and in-vehicle LiDAR has gradually become an essential sensing device. This article first introduces the types of vehicle-mounted laser mines and discusses their advantages and disadvantages; Then, a comprehensive summary and classification of existing ground segmentation methods based on LiDAR point clouds were conducted. Finally, the advantages and disadvantages of these methods in various road environments were compared and analyzed comprehensively, and the future development direction of such research was prospected.