Street Tree Extraction and Segmentation from Mobile LiDAR Point Clouds Based on Spatial Geometric Features of Object Primitives

Abstract

Extracting street trees from mobile Light Detection and Ranging (LiDAR) point clouds is still encountering challenges, such as low extraction accuracy and poor robustness in complex urban environment, and difficulty in the segmentation of overlapping trees. To solve these problems, this paper proposed a street tree extraction and segmentation method based on spatial geometric features of object primitives. In this paper, mobile LiDAR point clouds were first segmented into object primitives based on the proposed graph segmentation method, which can release the computation burden effectively. According to the spatial geometric features of the segmented object primitives, stem points were extracted. In doing so, the robustness and accuracy for stem detecting can be improved. Furthermore, voxel connectivity analysis and individual tree optimization were combined successively. In doing so, the neighboring trees could be separated successfully. Four datasets located in Henan Polytechnic University, China, were used for validating the performance of the proposed method. The four mobile LiDAR point clouds contained 106, 45, 76, and 46 trees, respectively. The experimental results showed that the proposed method can achieve the performance of individual tree separation in all the four testing plots. Compared to the other three methods, the proposed method can make a good balance between the commission and omission errors and achieved the highest average F1 scores.