A method for segmenting 3D point cloud representing unstructured and natural terrain.

Detailed information about the approach can be found in:
B. Douillard, N. Nourani-Vatani, M. Johnson-Roberson, S. Williams, C. Roman, O. Pizarro, I. Vaughn, G. Inglis, "FFT-based Terrain Segmentation for Underwater Mapping", Robotics: Science and Systems, RSS 2012, Sydney, Australia

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