FGSeg: Field-ground segmentation for agricultural robot based on LiDAR

Eksan Firkat, Fan An, Bei Peng, Jinlai Zhang, Tayir Mijit, Arzigul Ahat, Jihong Zhu, Askar Hamdulla

Abstract: Highlights•A multi-stage ground segmentation algorithm for agricultural robot was proposed.•The proposed algorithm are not limit to specific type of LiDAR sensors.•The proposed algorithm can indicate the terrian type of segmented ground.•The proposed algorithm is evaluated in the agricultural field environment.