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This paper presents a real-time traversable ground surface segmentation and intuitive representation system for remote operation of mobile robot. Firstly, a terrain model using voxel-based flag map is proposed for incrementally registering large-scale point clouds in real time. Subsequently, a ground segmentation method with Gibbs-Markov random field (Gibbs-MRF) model is applied to detect ground data in the reconstructed terrain. Finally, we generate a texture mesh for ground surface representation by mapping the triangles in the terrain mesh onto the captured video images. To speed up the computation, we program a graphics processing unit (GPU) to implement the proposed system for large-scale datasets in parallel. Our proposed methods were tested in an outdoor environment. The results show that ground data is segmented effectively and the ground surface is represented intuitively. <\/jats:p>","DOI":"10.1155\/2014\/795851","type":"journal-article","created":{"date-parts":[[2014,4,3]],"date-time":"2014-04-03T21:09:10Z","timestamp":1396559350000},"page":"795851","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":6,"title":["Traversable Ground Surface Segmentation and Modeling for Real-Time Mobile Mapping"],"prefix":"10.1177","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5909-9661","authenticated-orcid":false,"given":"Wei","family":"Song","sequence":"first","affiliation":[{"name":"Department of Computer Science & Technology, North China University of Technology, Beijing 100-144, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Seoungjae","family":"Cho","sequence":"additional","affiliation":[{"name":"Department of Multimedia Engineering, Graduate 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