Extraction of Structure Line Segments from Point Clouds Using Voxel-Based Region Growing

Fig. 1. Procedure of the proposed method. (a) Original point cloud; (b) voxelization; (c) plane segmentation; (d) recognition of potential support voxels; (e) segmentation of support regions; (f) extraction of three-dimensional structure line segments and refinement; (g) algorithm flow chart

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Fig. 2. Sketch map for the relationship among intersection angle, voxel size and fitting standard deviation value of two neighbor coplanar voxels

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Fig. 3. Recognition of potential support voxels. (a) Global structure of octree voxels; (b) distribution of non-edge and non-edge adjacent voxels which are shown in red; (c) potential support voxels which are shown in red

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Fig. 4. Extraction of support regions using voxel-based region growing. (a) Statistics of plane distribution in the neighbor voxels (which are shown in blue) of the seed voxel (which is shown in red) and proceeding of initial region growing (in which the dash lines represent the border of the support region); (b) region growing from the seed voxels (in which the initial seed is in green, the new seeds are in red and the neighbor voxels of the new seeds are in blue, while the red arrows indicate the grow

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Fig. 5. Overlap display of fitting plane and original

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Fig. 6. Structure line and its support regions. (a) Definition of corresponding parameters of structure line; (b) projection regions of the support regions (yellow region is the final selected support region)

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Fig. 7. Refinement of structure line segments. (a) Before refinement; (b) after refinement

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Fig. 8. Segmentation result of Data1 (different planes are shown in different color). (a) Data1 and its local feature; (b) segmentation result of OB method; (c) segmentation result of the proposed method

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Fig. 9. Extraction results of structure line segments. (a) Data2; (b) Data3; (c) Data4; (d) Data5; (e) extraction result of Data2; (f) extraction result of Data3; (g) extraction result of Data4; (h) extraction result of Data5

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Fig. 10. Comparision of structure line segment extracting results of Data4. (a) Original test data; (b) plane segmentation result of RANSAC algorithm; (c) plane segmentation result of the proposed method; (d) extraction result of RPB algorithm; (e) extraction result of VPB algorithm; (f) extraction result of the proposed method (the support regions are hidden for comparision)

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Table 1. Information of experimental data
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Table 1. Information of experimental data
Data information Data1 Data2 Data3 Data4 Data5
Data volume /10⁶ 13.8 13.1 32.8 4.7 100.0
Point interval /cm 3.79 1.74 0.78 2.37 1.24

Table 2. Comparison of experimental results of planer segmentation
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Table 2. Comparison of experimental results of planer segmentation
Item Time cost /s Plane number Precision Recall
OB 35.6 933 86.2 84.7
Proposed method 48.8 1029 98.9 98.2

Table 3. Processing results of experimental data

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Table 3. Processing results of experimental data

Data information	Data2	Data3	Data4	Data5
Plane number	5293	7168	5111	3383
Line segment number	6841	9522	3568	8707
Time cost for plane segmentation /s	50.9	51.9	27.9	208.6
Time cost for line segment extraction /s	9.4	7.4	4.0	28.3

Table 4. Efficiency and accuracy comparison of the algorithms

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Table 4. Efficiency and accuracy comparison of the algorithms

Item	Threshold				Plane number	Time cost /s			$\begin{matrix} {\bar{σ}}_{υ}_{} \end{matrix}$ /cm
Item		$\begin{matrix} {d_{t h}}_{} \end{matrix}$ /m	$\begin{matrix} {θ_{t h}}_{} \end{matrix}$ /(°)	Point-line distance /m		Segmentation	Line extraction	Total	Before centralization	After centralization
RPB	0.01	25.0	10×Θ·σ		888	38.8	23.1	61.9	1.45	—
VPB	—	—	10×d_avg		5111	27.9	151.6	179.5	2.03	—
Proposed method	—	—	—		5111		4.0	31.9	1.87	1.43

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Minglei Li, Wenpeng Zong, Guangyun Li, Li Wang. Extraction of Structure Line Segments from Point Clouds Using Voxel-Based Region Growing[J]. Acta Optica Sinica, 2018, 38(1): 0112001

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