Fig. 1. Flow chart of point cloud segmentation

Fig. 2. Filtered original point cloud using height rendering

Fig. 3. Horizontal point cloud clusters after space clustering

Fig. 4. Classic non-roof point cloud. (a) Original point cloud using height rendering; (b) point cloud clusters containing parapet wall and overlapping clusters; (c) point cloud clusters after removing parapet wall and overlapping clusters

Fig. 5. Classic non-roof point cloud.(a) Original point cloud using height rendering; (b) point cloud clusters containing structure supported by pillar; (c) point cloud clusters after removing structure supported by pillar

Fig. 6. Original point cloud in construction area. (a) Region A; (b) region B

Fig. 7. (a) Horizontal point cloud clusters using clustering; (b) result of removing error point cloud clusters of building when D is 0.5 m and hv is 0.25 m; (c) result of removing error point cloud clusters of building when D is 0.25 m and hv is 0.25 m; (d) result of removing error point cloud clusters of building when D is 0.25 m and hv is 0.1 m; (e) result of removing error point cloud clusters of building when D is 0.25 m and hv is 0.5 m; (f) result of filtering other non-roof point cloud clusters

Fig. 8. (a) Extraction result of single part of building in area A; (b) extraction result of building in area A; (c) extraction result of single part of building in area B; (d) extraction result of building in area B