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adaptive zoning 1autonomous navigation 1ground segmentation 1lidar point clouds 1two-stage processing 1

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1 paper

cs.CV2026

ACZ-GSeg: Adaptive Concentric Zone-based Two-stage Ground Segmentation for LiDAR Point Clouds

Ge Zhang Chunyang Wang Bin Liu

The paper introduces a two‑stage ground segmentation method for LiDAR point clouds that uses an Adaptive Concentric Zone model to balance point distribution and applies weighted PC…