GitHub repository

Implements the well-cited Himmelsbach et al. 2010 paper, ensuring a reliable foundation for ground segmentation tested in autonomous vehicle contexts, as referenced in the README.

Includes a dedicated ROS package with launch files and parameter configurations, making deployment straightforward for robotic systems, as shown in the segmentation.launch instructions and separate ROS interface.

Supports multi-threading with configurable thread counts and segmentation parameters, allowing optimization for different hardware and sensor setups, highlighted by the n_threads and segmentation range settings.

Offers optional rotation into gravity-aligned frames, improving accuracy on uneven terrain by accounting for sensor orientation, as specified in the gravity_aligned_frame parameter description.