Point2Roof: End-to-end 3D building roof modeling from airborne LiDAR point clouds

Abstract

Three-dimensional (3D) building roof reconstruction from airborne LiDAR point clouds is an important task in photogrammetry and computer vision. To automatically reconstruct the 3D building models at Level of Detail 2 (LoD-2) from airborne LiDAR point clouds, the data-driven approaches usually need to be performed in two steps: geometric primitive extraction and roof structure inference. Obviously, the traditional approaches are not end-to-end, the accumulated errors in different stages cannot be avoided and the final 3D roof models may not be optimal. In addition, the results of 3D roof models largely depend on the accuracy of geometric primitives (planes, lines, etc.). To solve these problems, we present a deep learning-based approach to directly reconstruct building roofs from airborne LiDAR point clouds, named Point2Roof. In our method, we start by extracting the deep features for each input point using PointNet++. Then, we identify a set of candidate corner points from the input point clouds using the extracted deep features. In addition, we also regress the offset for each candidate corner point to refine their locations. After that, these candidates are clustered into a set of initial vertices, and we further refine their locations to obtain the final accurate vertices. Finally, we propose a Paired Point Attention (PPA) module to predict the true model edges from an exhaustive set of candidate edges between the vertices. Unlike traditional roof modeling approaches, the proposed Point2Roof is end-to-end. However, due to the lack of a building reconstruction dataset, we construct a large-scale synthetic dataset to verify the effectiveness and robustness of the proposed Point2Roof. The experimental results conducted on the synthetic benchmark demonstrate that the proposed Point2Roof significantly outperforms the traditional roof modeling approaches. The experiments also show that the network trained on the synthetic dataset can be applied to the real point clouds after fine-tuning the trained model on a small real dataset. The large-scale synthetic dataset, the small real dataset and the source code of our approach are publicly available in https://github.com/Li-Li-Whu/Point2Roof.