# FugSeg: Fast Uncertainty-aware Ground Segmentation for 3D Point Cloud

arXiv: https://arxiv.org/abs/2605.08952 · HTML: https://mlsanity.com/paper/2605.08952/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 15 of its 45 references that are in the map.
- First posted on arXiv 9 May 2026.

## Builds on (most cited first, 15 of 15)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3D](https://mlsanity.com/paper/2109.13410/) (2021)
- [Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR Segmentation](https://mlsanity.com/paper/2011.10033/) (2020)
- [2DPASS: 2D Priors Assisted Semantic Segmentation on LiDAR Point Clouds](https://mlsanity.com/paper/2207.04397/) (2022)
- [Spherical Transformer for LiDAR-based 3D Recognition](https://mlsanity.com/paper/2303.12766/) (2023)
- [Patchwork++: Fast and Robust Ground Segmentation Solving Partial Under-Segmentation Using 3D Point Cloud](https://mlsanity.com/paper/2207.11919/) (2022)
- [ERASOR: Egocentric Ratio of Pseudo Occupancy-based Dynamic Object Removal for Static 3D Point Cloud Map Building](https://mlsanity.com/paper/2103.04316/) (2021)
- [Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor](https://mlsanity.com/paper/2108.05560/) (2021)
- [LSK3DNet: Towards Effective and Efficient 3D Perception with Large Sparse Kernels](https://mlsanity.com/paper/2403.15173/) (2024)
- [GroundGrid:LiDAR Point Cloud Ground Segmentation and Terrain Estimation](https://mlsanity.com/paper/2405.15664/) (2024)
- [TRAVEL: Traversable Ground and Above-Ground Object Segmentation Using Graph Representation of 3D LiDAR Scans](https://mlsanity.com/paper/2206.03190/) (2022)
- [CNN for Very Fast Ground Segmentation in Velodyne LiDAR Data](https://mlsanity.com/paper/1709.02128/) (2017)
- [Similar but Different: A Survey of Ground Segmentation and Traversability Estimation for Terrestrial Robots](https://mlsanity.com/paper/2312.16839/) (2023)
- [LiDARDustX: A LiDAR Dataset for Dusty Unstructured Road Environments](https://mlsanity.com/paper/2505.21914/) (2025)

## Built on by (most cited first, 1 of 1)

- [ACZ-GSeg: Adaptive Concentric Zone-based Two-stage Ground Segmentation for LiDAR Point Clouds](https://mlsanity.com/paper/2607.12110/) (2026)

## Abstract (arXiv)

In LiDAR-based environment perception systems, ground segmentation is a key preprocessing step supporting various applications such as mapping and navigation. Although extensively studied, problems such as reflection noise and isolated ground remain challenging. To address these issues, we propose FugSeg, a fast uncertainty-aware ground segmentation method. A polar grid map is adopted as the point cloud representation to ensure generalizability across LiDAR types. Building on that, we develop a within- and cross-segment ground labeling strategy that identifies not only directly visible ground cells but also those that are isolated or occluded. During this process, an adaptive slope is introduced, which incorporates measurement uncertainties to enhance its reliability under complex terrain. Finally, to achieve point-level ground segmentation, a fine-grained ground elevation estimation method is introduced. Throughout the complete workflow, reflection noise is explicitly handled via the proposed noisy ground cells. We conduct comprehensive evaluations on four public datasets covering both structured and unstructured environments. Results show that FugSeg outperforms state-of-the-art non-learning methods, achieving the highest F1, accuracy, and mIoU across all datasets, while maintaining the fastest runtime (135 Hz and 487 Hz for 64- and 32-layer LiDARs) using a single CPU thread, making it suitable for resource-limited systems. The code will be available at https://github.com/Leo-YuLi/FugSeg.