A method for segmentation of range image captured in vehicle-borne laserscanning based on the Density of Projected Points

The research presented in this paper is focused on segmentation of range image captured by vehicle-borne laser scanning systems. A method, named as Density of Projected Points (DoPP) is proposed for the range image segmentation without other auxiliary data and is conducted to demonstrate the feasibility of the proposed solution by two cases. Image segmentation is the foundation and crux of object recognization, positioning, feature extraction and modeling. Range image is the discrete array of coordinates, which cannot describe edge feature or topologic relation, it has not be segmented by mature and feasible methods of segmentation up to now. The investigation in this paper opens a research direction to data acquisition and processing of laserscanning.