Ground Surface Recognition at Voxel Scale From Mobile Laser Scanning Data in Urban Environment

Ground filtering is an essential process for further classification of other features from a point cloud. This letter aims to develop an efficient method for the automatic recognition of a ground surface in urban environments from a point cloud acquired by mobile laser scanning (MLS). The MLS point cloud has large amounts of data. To decrease the calculation effort, the point clouds are first segmented into regular voxels using an octree structure. Then, voxel cloud connectivity segmentation (VCCS) is applied to generate supervoxels, which alleviate the issue of boundary cross between voxels and ground truth. Finally, several geometric features on the voxel scale are selected for a support vector machine (SVM) to label segments as a ground surface and nonground objects. For an objective comparison with other methods, the accuracy of the proposed method is evaluated by public MLS data sets. Experimental results show that all ground type objects can be well recognized with least susceptibility to scenic change.