Efficient shrub modelling based on terrestrial laser scanning (TLS) point clouds

Abstract

ABSTRACT This paper presents a methodology for automatically generating 3D models of individual shrubs from point clouds acquired by Terrestrial Laser Scanning (TLS) devices. The creation of accurate 3D models for shrubs holds significant value for ecological studies. The shrub modelling is more challenging compared to other tree modelling tasks, due to the presence of substantial noise and fuzzy branch structures. To address these challenges, our approach first partitions the input point cloud into two categories: branches and others. This point segmentation process effectively eliminates interference of leaves and noise, thereby enhancing the visibility of branch skeletons. Then, we construct a triangulation network using the branch points and establish a minimum spanning tree (MST) based on this network. Serving as the initial skeleton representation of the plant, the MST preserves the essential topological structures of the branches. Within the extracted MST, we implement a recursive trimming technique to eliminate redundant branches by merging adjacent points and edges, ultimately consolidating the skeleton structure. Finally, we employ an adaptive cylinder fitting algorithm that relies on robust principal component analysis (RPCA) to generate the model. The effectiveness and robustness of the proposed method are demonstrated via experiments on different datasets, with an average fitting error of 1.13 cm, indicating that our approach can achieve high accuracy in modelling individual shrubs.