Bisheng Yang , Zhen Dong , Gang Zhao, Wenxia Dai

Abstract：Point clouds collected in urban scenes contain a huge number of points (e.g., billions), numerous objects with significant size variability, complex and incomplete structures, and variable point densities, raising great challenges for the automated extraction of urban objects in the field of photogrammetry, computer vision, and robotics. This paper addresses these challenges by proposing an automated method to extract urban objects robustly and efficiently. The proposed method generates multi-scale supervoxels from 3D point clouds using the point attributes (e.g., colors, intensities) and spatial distances between points, and then segments the supervoxels rather than individual points by combining graph based segmentation with multiple cues (e.g., principal direction, colors) of the supervoxels. The proposed method defines a set of rules for merging segments into meaningful units according to types of urban objects and forms the semantic knowledge of urban objects for the classification of objects. Finally, the proposed method extracts and classifies urban objects in a hierarchical order ranked by the saliency of the segments. Experiments show that the proposed method is efficient and robust for extracting buildings, streetlamps, trees,telegraph poles, traffic signs, cars, and enclosures from mobile laser scanning (MLS) point clouds, with an overall accuracy of 92.3%.

Keywords：Mobile laser scanning，Multi-scale supervoxel，Segmentation，Object extraction，Classification，Filtering

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