Fig. 1. Flow chart of rock discontinuities identification algorithm

Fig. 2. Schematic representation of point cloud translation. (a) First distribution; (b) second distribution; (c) (d) results of reversing the normal vectors

Fig. 3. Schematic of point normal-distance

Fig. 4. Schematic of point normal distance

Fig. 5. Schematic of planar over-segmentation

Fig. 6. Schematic of facet

Fig. 7. Point cloud of rock. (a) Data 1; (b) data 2

Fig. 8. Initial clustering results for different k values. (a) k = 20; (b) k = 30; (c) k = 40; (d) results of manual identification

Fig. 9. Discontinuities identification results and occurrence information. (a) Discontinuities identification results; (b) pole figure of occurrence

Fig. 10. Comparison of pole density plot. (a) Pole density plot of automatic identification; (b) pole density plot of manually identification

Fig. 11. Comparison of discontinuities identification results. (a) Automatic identification results; (b) manual identification results

Fig. 12. Discontinuities identification results of data 2. (a) Pole figure of occurrence; (b) pole density plot of automatic identification; (c) pole density plot of manually identification;(d) discontinuities identification results;(e) discontinuities of automatic identification; (f) discontinuities of manually identification