Abstract: Example implementations can include a method of real-time detection of and geometry generation for physical ground planes, the method including generating a point cloud based on one or more detected points, the detected points being reflected from one or more projected points of focused light projected onto an environment, slicing, in accordance with at least one coordinate space threshold, one or more threshold points from the point cloud to generate a first sliced point cloud excluding the threshold points, slicing, in accordance with at least one residual threshold, one or more residual points from the first sliced point cloud to generate a second sliced point cloud excluding the residual points, generating a ground plane aligned with one or more points of the second point cloud in the coordinate space, and calculating a geometric characteristic of the second ground plane.