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Nevertheless, they require geometrically accurate and realistic three-dimensional (3D) models in order to allow driver training. This paper presents the Automatic Ground Surface Reconstruction method, a framework that exploits 3D data acquired by Mobile Laser Scanning systems. They are particularly attractive due to their fast acquisition at the terrestrial level. Nevertheless, such a mobile acquisition introduces several constraints for the existing 3D surface reconstruction algorithms. The proposed surface modeling framework produces a regular surface and recovers sharp depth features within a scalable and detail-preserving framework. Experimental results on real data acquired in urban environments allow us to conclude on the effectiveness of the proposed method.<\/jats:p>","DOI":"10.1177\/0037549716683022","type":"journal-article","created":{"date-parts":[[2017,1,11]],"date-time":"2017-01-11T23:44:10Z","timestamp":1484178250000},"page":"201-211","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":7,"title":["Automatic Ground Surface Reconstruction from mobile laser systems for driving simulation engines"],"prefix":"10.1177","volume":"93","author":[{"given":"Daniela","family":"Craciun","sequence":"first","affiliation":[{"name":"MINES ParisTech, PSL Research University, Center for Robotics, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jean-Emmanuel","family":"Deschaud","sequence":"additional","affiliation":[{"name":"MINES ParisTech, PSL Research University, Center for Robotics, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Francois","family":"Goulette","sequence":"additional","affiliation":[{"name":"MINES ParisTech, PSL Research University, Center for Robotics, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2017,1,11]]},"reference":[{"key":"bibr1-0037549716683022","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-19214-2_29"},{"key":"bibr2-0037549716683022","unstructured":"SIMVIR. http:\/\/crvm.ism.univ-amu.fr\/simvir\/en\/index.html (accessed 12 December 2016)."},{"key":"bibr3-0037549716683022","first-page":"285","volume-title":"Proceedings of the 2nd international conference on Applied informatics and computing theory","author":"Bouchner P"},{"key":"bibr4-0037549716683022","volume-title":"G\u00e9n\u00e9ration, visualization et \u00e8valuation d\u2019images (HDR). 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