A Fast Edge Extraction Method for Mobile Lidar Point Clouds

Edges in mobile light detection and ranging (lidar) point clouds are important for many applications but usually overlooked. In this letter, we propose a fast edge extraction method for mobile lidar. First, an edge index based on geometric center is introduced and then gradients in unorganized 3-D point clouds are defined. By analyzing the ratio between eigenvalues, edge candidates can be detected. Finally, an edge linking algorithm named graph snapping is proposed. The method is tested extensively and the experimental results demonstrate that the proposed method is able to quickly extract most of 3-D edges with higher accuracy than the existing methods.