Oladele, DAMarkus, EDAbu-Mahfouz, Adnan MI2025-12-092025-12-092025-052673-2688https://doi.org/10.3390/ai6050097http://hdl.handle.net/10204/14509Background: Accurate ground segmentation in 3D point clouds is critical for robotic perception, enabling robust navigation, object detection, and environmental mapping. However, existing methods struggle with over-segmentation, under-segmentation, and computational inefficiency, particularly in dynamic or complex environments. Methods: This study proposes FASTSeg3D, a novel two-stage algorithm for real-time ground filtering. First, Range Elevation Estimation (REE) organizes point clouds efficiently while filtering outliers. Second, adaptive Window-Based Model Fitting (WBMF) addresses over-segmentation by dynamically adjusting to local geometric features. The method was rigorously evaluated in four challenging scenarios: large objects (vehicles), pedestrians, small debris/vegetation, and rainy conditions across day/night cycles. Results: FASTSeg3D achieved state-of-the-art performance, with a mean error of <7%, error sensitivity < 10%, and IoU scores > 90% in all scenarios except extreme cases (rainy/night small-object conditions). It maintained a processing speed 10× faster than comparable methods, enabling real-time operation. The algorithm also outperformed benchmarks in F1 score (avg. 94.2%) and kappa coefficient (avg. 0.91), demonstrating superior robustness. Conclusions: FASTSeg3D addresses critical limitations in ground segmentation by balancing speed and accuracy, making it ideal for real-time robotic applications in diverse environments. Its computational efficiency and adaptability to edge cases represent a significant advancement for autonomous systems.FulltextenFast ground segmentationFast ground filtering3D point cloudsRange elevation estimationWindow-based model fittingReal-time processingAutonomous drivingArticlen/a