Fig. 1. Comparison results before and after statistical filtering. (a) Sofa before filtering; (b) table before filtering; (c) chair before filtering; (d) sofa after filtering; (e) table after filtering; (f) chair after filtering

Fig. 2. Comparison results before and after simplification. (a) Sofa before simplification; (b) table before simplification; (c) chair before simplification; (d) sofa after simplification; (e) table after simplification; (f) chair after simplification

Fig. 3. k-tree instance

Fig. 4. Algorithm flow chart

Fig. 5. Building segmentation results under different curvature thresholds. (a) 0.5; (b) 1.0; (c) 1.5

Fig. 6. Point cloud segmentation results after pretreatment with the proposed algorithm. (a) Sofa; (b) table; (c) chair

Fig. 7. Point cloud segmentation results after pretreatment with traditional regional growth algorithm. (a) Sofa; (b) table; (c) chair