GitHub repository

Achieves 100 Hz processing using Intel TBB for parallel computation, enabling real-time operation in autonomous systems, as highlighted in the README update.

Employs a concentric zone model and region-wise ground plane fitting to handle diverse and uneven outdoor terrains effectively, ensuring reliability across varied environments.

Includes ATAT to automatically estimate sensor height from ground points, reducing manual calibration efforts, as noted in the updates section.

Validated through publication in IEEE Robotics and Automation Letters and included in ground segmentation benchmarks, providing confidence in its accuracy.