Pre-segmentation of point cloud based on centroid matrix of streak tube imaging LiDAR

This letter presents a pre-segmentation method for the streak tube imaging LiDAR (STIL) before generating the point cloud. This method uses the spatial relationships between scan lines to construct a multilayer matrix data structure without more precise positional and posture data. The elements of this matrix not only correspond to the point cloud, but also contain the proximity relationships between points. After the multilayer matrix has been segmented by the Two-Pass algorithm, each element will be assigned a distinct label, which will be incorporated into the 3D reconstruction of the point cloud. In terms of segmentation results, this preprocessing is found to be consistent with the traditional point cloud analysis techniques.