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This paper proposes a building façade contouring method from LiDAR (Light Detection and Ranging) scans and photogrammetric point clouds. To this end, we calculate the confidence property at multiple scales for an individual point cloud to measure the point cloud’s quality. The confidence property is utilized in the definition of the gradient for each point. We encode the individual point gradient structure tensor, whose eigenvalues reflect the gradient variations in the local neighborhood areas. The critical point clouds representing the building façade and rooftop (if, of course, such rooftops exist) contours are then extracted by jointly analyzing dual-thresholds of the gradient and gradient structure tensor. Based on the requirements of compact representation, the initial obtained critical points are finally downsampled, thereby achieving a tradeoff between the accurate geometry and abstract representation at a reasonable level. Various experiments using representative buildings in Semantic3D benchmark and other ubiquitous point clouds from ALS DublinCity and Dutch AHN3 datasets, MLS TerraMobilita/iQmulus 3D urban analysis benchmark, UAV-based photogrammetric dataset, and GeoSLAM ZEB-HORIZON scans have shown that the proposed method generates building contours that are accurate, lightweight, and robust to ubiquitous point clouds. Two comparison experiments also prove the superiority of the proposed method in terms of topological correctness, geometric accuracy, and representation compactness.

Critical Points Extraction from Building Façades by Analyzing Gradient Structure Tensor