The precise point cloud ground segmentation is a crucial prerequisite of virtually all perception tasks for LiDAR sensors in autonomous vehicles. Especially the clustering and extraction of objects from a point cloud usually relies on an accurate removal of ground points. The correct estimation of the surrounding terrain is important for aspects of the drivability of a surface, path planning, and obstacle prediction. In this article, we propose our system GroundGrid which relies on 2D elevation maps to solve the terrain estimation and point cloud ground segmentation problems. We evaluate the ground segmentation and terrain estimation performance of GroundGrid and compare it to other state-of-the-art methods using the SemanticKITTI dataset and a novel evaluation method relying on airborne LiDAR scanning. The results show that GroundGrid is capable of outperforming other state-of-the-art systems with an average IoU of 94.78% while maintaining a high run-time performance of 171Hz. The source code is available at https://github.com/dcmlr/groundgrid
Information fusion approach for biomass estimation in a plateau mountainous forest using a synergistic system comprising UAS-based digital camera and LiDAR
The Hong Kong Polytechnic University（香港理工大学）；The Hong Kong Polytechnic University Shenzhen Research Institute（香港理工大学深圳研究院）；Nanjing Forestry University（南京林业大学）
Whole-Body Control With Terrain Estimation of A 6-DoF Wheeled Bipedal Robot
School of Intelligent Systems Engineering, Sun Yat-sen University（中山大学智能系统工程学院）；Direct Drive Technology Limited（直接驱动技术有限公司）；Suzhou Nuclear Power Research Institute Co., Ltd（苏州核电研究所有限公司）
3DTTNet: Multimodal Fusion-Based 3D Traversable Terrain Modeling for Off-Road Environments
Shenzhen Automotive Research Institute, Beijing Institute of Technology, Shenzhen（深圳汽车研究院，北京理工大学，深圳）；School of Mechanical Engineering, Beijing Institute of Technology, Beijing（机械工程学院，北京理工大学，北京）；Research Center for Intelligent Computing Systems, Institute of Computing Technology, Chinese Academy of Sciences, Beijing（智能计算系统研究中心，计算技术研究所，中国科学院，北京）
Terrain-Awared LiDAR-Inertial Odometry for Legged-Wheel Robots Based on Radial Basis Function Approximation
School of Automation and Intelligent Sensing, Institute of Medical Robotics, Shanghai Jiao Tong University, and Key Laboratory of System Control and Information Processing, Ministry of Education（自动化与智能感知学院、医学机器人研究院、上海交通大学，系统控制与信息处理重点实验室）
PGTT: Phase-Guided Terrain Traversal for Perceptive Legged Locomotion
Laboratory of Automation and Robotics (LAR) in the Department of Electrical & Computer Engineering, University of Patras（自动化与机器人实验室（LAR）（电气与计算机工程系，帕特拉斯大学））；Archimedes/Athena RC, Greece（阿基米德/雅典娜RC，希腊）；Athena - Research and Innovation Center in Information, Communication and Knowledge Technologies, Xanthi, Greece（雅典娜信息、通信和知识技术研究中心（Xanthi，希腊））；Computational Intelligence Laboratory (CILab), Department of Mathematics, University of Patras（计算智能实验室（CILab）（数学系，帕特拉斯大学））
Minkowski-MambaNet: A Point Cloud Framework with Selective State Space Models for Forest Biomass Quantification
School of Computer Science and Technology, the Key Laboratory of Signal Detection and Processing, and the Xinjiang Multimodal Intelligent Processing and Information Security Engineering Technology Research Center, Xinjiang University（计算机科学与技术学院、信号检测与处理重点实验室以及新疆多模态智能处理与信息安全工程技术研究中心，新疆大学）；National Key Laboratory for Novel Software Technology, Nanjing University（新型软件技术国家实验室，南京大学）；Xinjiang Guanghui New Energy Co., Ltd（新疆广汇新能源有限公司）；Hongyousoft Co., Ltd（宏远软件有限公司）
Adaptive Denoising-Enhanced LiDAR Odometry for Degeneration Resilience in Diverse Terrains
School of Electronics and Information Engineering, Tongji University（同济大学电子与信息工程学院）；Tongji Research Institute of Artificial Intelligence (Suzhou)（同济大学人工智能研究院（苏州））
Omni-Perception: Omnidirectional Collision Avoidance for Legged Locomotion in Dynamic Environments
The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；Spatialtemporal AI（时空AI）；The Hong Kong University of Science and Technology（香港科技大学）；Department of Eletronic Engineering, Tsinghua University（清华大学电子工程系）；Beijing Innovation Center of Humanoid Robotics Co., Ltd.（北京人形机器人创新中心有限公司）
Geo-Registration of Terrestrial LiDAR Point Clouds with Satellite Images without GNSS
Department of Computer Science and Software Engineering, The University of Western Australia（计算机科学与软件工程系，西澳大学）；School of Engineering and Technology, University of New South Wales（工程与技术学院，新南威尔士大学）
PointWalker: Mapless Quadruped Locomotion Directly From Raw LiDAR Point Clouds
College of Control Science and Engineering, Zhejiang University（浙江大学控制科学与工程学院）；Yunshenchu Technology Co., Ltd.（云深处科技有限公司）；Zhejiang Key Laboratory of Additive Manufacturing Technology and Equipment（浙江省增材制造技术与装备重点实验室）；Hangzhou Public Library（杭州图书馆）
Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains
Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）；The Chinese University of Hong Kong（香港中文大学）；University of Science and Technology of China（中国科学技术大学）；University of Tokyo（东京大学）；Shanghai Jiaotong University（上海交通大学）
Tightly-Coupled LiDAR-IMU-Leg Odometry with Online Learned Leg Kinematics Incorporating Foot Tactile Information
Space Robotics Lab., Dept. Aerospace Eng., Tohoku University, Japan（东京东京大学航空航天工程系空间机器人实验室，日本）；Dept. of Information Technology and Human Factors, the National Institute of Advanced Industrial Science and Technology, Japan（日本国家先进工业科学和技术研究院信息科技与人因系）
YOLO and SGBM Integration for Autonomous Tree Branch Detection and Depth Estimation in Radiata Pine Pruning Applications
Centre for Data Science and Artificial Intelligence（数据科学与人工智能中心）；Victoria University of Wellington（惠灵顿维多利亚大学）；Department of Computer Science and Software Engineering（计算机科学与软件工程系）；University of Canterbury（坎特伯雷大学）
Omnidirectional Humanoid Locomotion on Stairs via Unsafe Stepping Penalty and Sparse LiDAR Elevation Mapping
School of Artificial Intelligence and Automation, Huazhong University of Science and Technology（华中科技大学人工智能与自动化学院）；State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology（华中科技大学智能制造装备技术国家重点实验室）；School of Mechanical Science and Engineering, Huazhong University of Science and Technology（华中科技大学机械科学与工程学院）
Real-time Neural Dense Elevation Mapping for Urban Terrain with Uncertainty Estimations
Hong Kong University of Science and Technology（香港科技大学）；Clear Water Bay Institute of Autonomous Driving（清水湾自动驾驶研究院）；Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute（香港科技大学深圳研究院）
Terrain Perception for Agricultural UAVs in Complex Farmland via Rotating mmWave Radar
School of Computer Science, Hangzhou Dianzi University（杭州电子科技大学计算机科学学院）；TopXGun Robotics（TopXGun机器人）；CARDC；College of Control Science and Engineering, Zhejiang University（浙江大学控制科学与工程学院）；College of Electronics and Information Engineering, Tongji University（同济大学电子信息工程学院）
Vibration-aware Lidar-Inertial Odometry based on Point-wise Post-Undistortion Uncertainty
State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology（智能制造装备与技术国家重点实验室，机械科学与工程学院，华中科技大学）
TAIL: A Terrain-Aware Multi-Modal SLAM Dataset for Robot Locomotion in Deformable Granular Environments
Southern University of Science and Technology (SUSTech)（南方科技大学）；Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems（深圳市仿生机器人与智能系统重点实验室）；Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities（广东省高校人机增强与康复机器人重点实验室）
