Fig. 1. Algorithm flow

Fig. 2. Voxelization of point cloud. (a) Original point cloud; (b) voxelization result

Fig. 3. Estimation of voxel residual feature

Fig. 4. Voxelization result (left) and octree division result (right)

Fig. 5. Continuity constraint

Fig. 6. Coplanarity constraint

Fig. 7. Point-to-planar voxel distance constraint

Fig. 8. Voxel Octree division result (left) and initial plane segmentation result (right)

Fig. 9. Schematic diagram of searching the nearest neighbour plane

Fig. 10. Initial plane segmentation and fine segmentation

Fig. 11. WHU-Roof examples

Fig. 12. Examples of RoofN3D

Fig. 13. Effect of voxel size on segmentation results

Fig. 14. Influence of residual threshold value on segmentation results

Fig. 15. Segmentation results of WHU-Roof dataset

Fig. 16. Segmentation results of RoofN3D dataset

Fig. 17. Segmentation results of different algorithms in WHU-Roof roof planes

Fig. 18. Segmentation results of different algorithms in RoofN3D roof planes

Fig. 19. Poor effect of roof plan division