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. 2015 Jun 19;15(6):14661–14678. doi: 10.3390/s150614661

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© 2015 by the authors; licensee MDPI, Basel, Switzerland.

This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/4.0/).

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Examples of false positives: an obstacle would be erroneously labeled as ground considering only the SE (a); an obstacle in the vicinity of ground would be flagged as ground (b). Black: radar observation. Grey: RCGD ground echo model.