Fig. 1. Comparison of results before and after linearization. (a) Before linearization; (b) after linearization

Fig. 2. Laser line sequence correspondence table

Fig. 3. Comparison of denoising results. (a) Before denoising; (b) partial horizontal view before denoising; (c) after denoising; (d) partial horizontal view after denoising

Fig. 4. Flow chart of ray slope threshold method

Fig. 5. Different types of points before and after urban point cloud ground segmentation. (a) Current point and previous point are obstacle points; (b) current point is ground point and previous point is obstacle point; (c) current point and previous point are both slope ground points; (d) current point is obstacle point and previous point is ground point

Fig. 6. Experimental platform

Fig. 7. Overall segmentation results of simple and rough pavement. (a) Method in Ref. [5]; (b) method in Ref. [9]; (c) proposed method

Fig. 8. Comparison of partial segmentation effects of simple and rough pavement. (a) Method in Ref. [5] (A box); (b) method in Ref. [9] (A box); (c) proposed method (A box); (d) method in Ref. [5] (B box); (e) method in Ref. [9] (B box); (f) proposed method (B box)

Fig. 9. Overall segmentation results of complex dynamic pavement. (a) Method in Ref. [5]; (b) method in Ref. [9]; (c) proposed method

Fig. 10. Comparison of partial segmentation effects of complex dynamic pavement. (a) Method in Ref. [5] (A box); (b) method in Ref. [9] (A box); (c) proposed method (A box); (d) method in Ref. [5] (side view of A box); (e) method in Ref. [5] (B box); (f) method in Ref. [9] (B box); (g) proposed method (B box); (h) method in Ref. [5] (C box); (i) method in Ref. [9] (C box); (j) proposed method (C box)

Fig. 11. Overall segmentation results of complex slope pavement. (a) Method in Ref. [5]; (b) method in Ref. [9]; (c) proposed method

Fig. 12. Comparison of partial segmentation results of complex slope pavement. (a)Method in Ref. [5] (A box); (b) method in Ref. [9] (A box); (c) proposed method (A box); (d) method in Ref. [5] (B box); (e) method in Ref. [9](B box); (f) proposed method (B box); (g) method in Ref. [5] (C box); (h) method in Ref. [9] (C box); (i) proposed method (C box)