Line Structure Extraction from LiDAR Point Cloud Based on the Persistence of Tensor Feature

Abstract

The LiDAR point cloud has been widely used in scenarios of automatic driving, object recognition, structure reconstruction, etc., while it remains a challenging problem in line structure extraction, due to the noise and accuracy, especially in data acquired by consumer electronic devices. To address the issue, a line structure extraction method based on the persistence of tensor feature is proposed, and subsequently applied to the data acquired by an iPhone-based LiDAR sensor. The tensor of each point is encoded, voted, and aggregated by its neighborhood, and further decomposed into different geometric features in each dimension. Then, the line feature in the point cloud is represented and computed using the persistence of the tensor feature. Finally, the line structure is extracted based on the persistent homology according to the discrete Morse theory. With the LiDAR point cloud collected by the iPhone 12 Pro MAX, experiments are conducted, line structures are extracted from two different datasets, and results perform well in comparison with other related results.