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Документ Відкритий доступ Modeling of a geometric segmentation algorithm based on laser scanning data(КПІ ім. Ігоря Сікорського, 2026) Shelemakha, V.; Tsybulnyk, S.Current trends in the development of precision agriculture and autonomous robotic platforms necessitate the improvement of sensor vision systems to ensure high-precision perception of the environment. Given the complexity of the operating conditions in agricultural ecosystems – specifically, the instability of natural lighting and the high density of vegetative objects – laser scanning technologies (LiDAR) currently serve as the primary source of spatial information. While this approach allows for the generation of detailed 3D point clouds, the process of forming these datasets is accompanied by distortions caused by dynamic noise and random outliers resulting from signal reflection off fine-dispersed objects.