Patchwork++: Fast and robust ground segmentation method for 3D LiDAR scans. @ IROS'22

Ground segmentation benchmark in SemanticKITTI dataset

Source code for the article "GroundGrid: LiDAR Point Cloud Ground Segmentation and Terrain Estimation"

Very early system focused on 3D physics platformer gameplay. Contains a raycast based ground detection system to get collider normal information, allowing forces to be scaled by the current ground angle.

code used for experiments during the thesis