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One current problem with laser radar point data classification is building and urban terrain segmentation, this paper proposes a point cloud segmentation method base on PCL libraries. PCL is a large cross-platform open source C++ programming library, which implements a large number of point cloud related efficient data structures and generic algorithms involving point cloud retrieval, filtering, segmentation, registration, feature extraction and curved surface reconstruction, visualization, etc. Due to laser radar point cloud characteristics with large amount of data, unsymmetrical distribution, this paper proposes using the data structure of kd-tree to organize data; then using Voxel Grid filter for point cloud resampling, namely to reduce the amount of point cloud data, and at the same time keep the point cloud shape characteristic; use PCL Segmentation Module, we use a Euclidean Cluster Extraction class with Europe clustering for buildings and ground three-dimensional point cloud segmentation. The experimental results show that this method avoids the multiple copy system existing data needs, saves the program storage space through the call of PCL library method and class, shortens the program compiled time and improves the running speed of the program.

Buildings and Terrain of Urban Area Point Cloud Segmentation based onPCL