Fig. 1. Flow chart of algorithm

Fig. 2. Recursive process of Kd-tree

Fig. 3. Gauss map of surface ∑

Fig. 4. Neighborhood normal vector projection of certain target point

Fig. 5. Distribution law of Guassian map points. (a) Point clustering; (b) linear clustering; (c) surface clustering

Fig. 6. Extraction effect comparison of feature lines of regular point clouds by different algorithms. (a) Simplified point cloud; (b) proposed algorithm; (c) method in Ref. [9]; (d) method in Ref. [10]

Fig. 7. Extraction effect comparison of feature lines of irregular point clouds by different algorithms. (a) Simplified point cloud; (b) proposed algorithm; (c) method in Ref. [9]; (d) method in Ref. [10]