Fig. 1. Schematic diagram of point cloud adaptive threshold ground segmentation algorithm model

Fig. 2. Polar division of point cloud data

Fig. 3. Vehicle driving road map

Fig. 4. Effect of distribution of regional b_i points on d_max

Fig. 5. Point cloud distribution hypothesis map

Fig. 6. Flowchart of seed point set update

Fig. 7. Flowchart of ground point segmentation

Fig. 8. Segmentation of semantic KITTI road information

Fig. 9. Binary division result of semantic KITTI dataset

Fig. 10. Segmentation result of proposed algorithm

Fig. 11. Point cloud segmentation results of different algorithms