{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,5]],"date-time":"2025-11-05T06:25:33Z","timestamp":1762323933398,"version":"build-2065373602"},"reference-count":52,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2016,5,5]],"date-time":"2016-05-05T00:00:00Z","timestamp":1462406400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Nature Science Foundation of China","award":["2012CB719904"],"award-info":[{"award-number":["2012CB719904"]}]},{"name":"Guangdong province of China","award":["2013B090400008"],"award-info":[{"award-number":["2013B090400008"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Plane segmentation is an important step in feature extraction and 3D modeling from light detection and ranging (LiDAR) point cloud. The accuracy and speed of plane segmentation are two issues difficult to balance, particularly when dealing with a massive point cloud with millions of points. A fast and easy-to-implement algorithm of plane segmentation based on cross-line element growth (CLEG) is proposed in this study. The point cloud is converted into grid data. The points are segmented into line segments with the Douglas-Peucker algorithm. Each point is then assigned to a cross-line element (CLE) obtained by segmenting the points in the cross-directions. A CLE determines one plane, and this is the rationale of the algorithm. CLE growth and point growth are combined after selecting the seed CLE to obtain the segmented facets. The CLEG algorithm is validated by comparing it with popular methods, such as RANSAC, 3D Hough transformation, principal component analysis (PCA), iterative PCA, and a state-of-the-art global optimization-based algorithm. Experiments indicate that the CLEG algorithm runs much faster than the other algorithms. The method can produce accurate segmentation at a speed of 6 s per 3 million points. The proposed method also exhibits good accuracy.<\/jats:p>","DOI":"10.3390\/rs8050383","type":"journal-article","created":{"date-parts":[[2016,5,6]],"date-time":"2016-05-06T10:19:23Z","timestamp":1462529963000},"page":"383","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["Fast and Accurate Plane Segmentation of Airborne LiDAR Point Cloud Using Cross-Line Elements"],"prefix":"10.3390","volume":"8","author":[{"given":"Teng","family":"Wu","sequence":"first","affiliation":[{"name":"School of Remote Sensing and Information Engineering, 129 Luoyu Road, Wuhan University, Wuhan 430079, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiangyun","family":"Hu","sequence":"additional","affiliation":[{"name":"School of Remote Sensing and Information Engineering, 129 Luoyu Road, Wuhan University, Wuhan 430079, China"},{"name":"Collaborative Innovation Center of Geospatial Technology, Wuhan University, Wuhan 430079, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lizhi","family":"Ye","sequence":"additional","affiliation":[{"name":"School of Remote Sensing and Information Engineering, 129 Luoyu Road, Wuhan University, Wuhan 430079, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2016,5,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"183","DOI":"10.1006\/cviu.1998.0715","article-title":"Edge detection in range images based on scan line approximation","volume":"73","author":"Jiang","year":"1999","journal-title":"Comput. Vis. Image Underst."},{"unstructured":"Sappa, A.D., and Devy, M. (June, January 28). Fast Range Image Segmentation by an Edge Detection Strategy. Proceedings of the Third International Conference on the 3-D Digital Imaging and Modeling, Quebec City, QC, Canada.","key":"ref_2"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"115","DOI":"10.1007\/BF01215806","article-title":"Fast segmentation of range images into planar regions by scan line grouping","volume":"7","author":"Jiang","year":"1994","journal-title":"Mach. Vis. Appl."},{"unstructured":"Wang, J., and Shan, J. (2009, January 9\u201313). Segmentation of lidar point clouds for building extraction. Proceedings of the American Society for Photogramm Remote Sens Annual Conference, Baltimore, MD, USA.","key":"ref_4"},{"unstructured":"Sithole, G., and Vosselman, G. (2003, January 22\u201323). Automatic structure detection in a point-cloud of an urban landscape. Proceedings of the 2nd GRSS\/ISPRS Joint Workshop on Remote Sensing and Data Fusion over Urban Areas, Berlin, Germany.","key":"ref_5"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"33","DOI":"10.1016\/j.isprsjprs.2006.07.004","article-title":"Bridge detection in airborne laser scanner data","volume":"61","author":"Sithole","year":"2006","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"7","DOI":"10.5194\/isprsannals-II-3-W1-7-2013","article-title":"A fast and simple method of building detection from lidar data based on scan line analysis","volume":"1","author":"Hu","year":"2013","journal-title":"ISPRS Ann. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"407","DOI":"10.14358\/PERS.76.4.407","article-title":"Automatic segmentation of lidar data into coplanar point clusters using an octree-based split-and-merge algorithm","volume":"76","author":"Wang","year":"2010","journal-title":"Photogramm. Eng. Remote Sens."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"32","DOI":"10.1111\/j.1477-9730.2011.00624.x","article-title":"Incremental segmentation of lidar point clouds with an octree\u2014Structured voxel space","volume":"26","author":"Wang","year":"2011","journal-title":"Photogramm. Rec."},{"unstructured":"Chehata, N., David, N., and Bretar, F. (2008, January 3\u201311). Lidar data classification using hierarchical k-means clustering. Proceedings of the ISPRS Congress, Beijing, China.","key":"ref_10"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"353","DOI":"10.1016\/j.rse.2004.05.013","article-title":"Lidar-based geometric reconstruction of boreal type forest stands at single tree level for forest and wildland fire management","volume":"92","author":"Morsdorf","year":"2004","journal-title":"Remote Sens. Environ."},{"unstructured":"Sampath, A., and Shan, J. (2006, January 1\u20135). Clustering based planar roof extraction from lidar data. Proceedings of the American Society for Photogrammetry and Remote Sensing Annual Conference, Reno, NV, USA.","key":"ref_12"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"84","DOI":"10.1016\/j.isprsjprs.2007.07.010","article-title":"Unsupervised robust planar segmentation of terrestrial laser scanner point clouds based on fuzzy clustering methods","volume":"63","author":"Biosca","year":"2008","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"1554","DOI":"10.1109\/TGRS.2009.2030180","article-title":"Segmentation and reconstruction of polyhedral building roofs from aerial lidar point clouds","volume":"48","author":"Sampath","year":"2010","journal-title":"IEEE Trans. Geosci. Remote Sens."},{"key":"ref_15","first-page":"159","article-title":"Non-parametric segmentation of ALS point clouds using mean shift","volume":"1","author":"Melzer","year":"2007","journal-title":"J. Appl. Geod."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"603","DOI":"10.1109\/34.1000236","article-title":"Mean shift: A robust approach toward feature space analysis","volume":"24","author":"Comaniciu","year":"2002","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"doi-asserted-by":"crossref","unstructured":"Ferraz, A., Bretar, F., Jacquemoud, S., Gon\u00e7alves, G., and Pereira, L. (2010, January 26\u201329). 3d segmentation of forest structure using a mean-shift based algorithm. Proceedings of the 2010 IEEE International Conference on Image Processing, Hong Kong, China.","key":"ref_17","DOI":"10.1109\/ICIP.2010.5651310"},{"doi-asserted-by":"crossref","unstructured":"Yao, W., Hinz, S., and Stilla, U. (2009, January 20\u201322). Object extraction based on 3D-segmentation of lidar data by combining mean shift with normalized cuts: Two examples from urban areas. Proceedings of the 2009 Joint Urban Remote Sensing Event, Shanghai, China.","key":"ref_18","DOI":"10.1109\/URS.2009.5137673"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"381","DOI":"10.1145\/358669.358692","article-title":"Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography","volume":"24","author":"Fischler","year":"1981","journal-title":"Commun. ACM"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"11","DOI":"10.1145\/361237.361242","article-title":"Use of the Hough transformation to detect lines and curves in pictures","volume":"15","author":"Duda","year":"1972","journal-title":"Commun. ACM"},{"unstructured":"Medioni, G., Tang, C.-K., and Lee, M.-S. Tensor Voting: Theory and Applications. Available online: http:\/\/159.226.251.229\/videoplayer\/Medioni_tensor_voting.pdf?ich_u_r_i=32752eaf85f6419f90c3d08468c5e75c&ich_s_t_a_r_t=0&ich_e_n_d=0&ich_k_e_y=1645048929750163052450&ich_t_y_p_e=1&ich_d_i_s_k_i_d=10&ich_u_n_i_t=1.","key":"ref_21"},{"key":"ref_22","first-page":"84","article-title":"Towards fully automatic generation of city models","volume":"33","author":"Brenner","year":"2000","journal-title":"Int. Arch. Photogramm. Remote Sens."},{"unstructured":"Bretar, F., and Roux, M. (2005, January 16\u201318). Extraction of 3D planar primitives from raw airborne laser data: A normal driven ransac approach. Proceedings of the IAPR Conference on Machine Vision Applications, Tsukuba, Japan.","key":"ref_23"},{"key":"ref_24","first-page":"97","article-title":"Extended ransac algorithm for automatic detection of building roof planes from lidar data","volume":"21","author":"Landes","year":"2008","journal-title":"Photogramm. J. Finl."},{"key":"ref_25","first-page":"367","article-title":"Quality analysis on ransac-based roof facets extraction from airborne lidar data","volume":"1","author":"Yan","year":"2012","journal-title":"ISPRS Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_26","first-page":"37","article-title":"3D building model reconstruction from point clouds and ground plans","volume":"34","author":"Vosselman","year":"2001","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/3DRes.02(2011)3","article-title":"The 3D Hough transform for plane detection in point clouds: A review and a new accumulator design","volume":"2","author":"Borrmann","year":"2011","journal-title":"3D Res."},{"key":"ref_28","first-page":"1073","article-title":"Segmentation of lidar data using the tensor voting framework","volume":"35","author":"Schuster","year":"2004","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"691","DOI":"10.1007\/s00138-010-0279-7","article-title":"Urban scene understanding from aerial and ground lidar data","volume":"22","author":"Kim","year":"2011","journal-title":"Mach. Vis. Appl."},{"key":"ref_30","first-page":"465","article-title":"Segmentation of tin-structured surface models","volume":"34","author":"Gorte","year":"2002","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_31","first-page":"193","article-title":"Perceptual organization of 3D surface points","volume":"34","author":"Lee","year":"2002","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"42","DOI":"10.1109\/MCG.2003.1242381","article-title":"Automatic generation of high-quality building models from lidar data","volume":"23","author":"Rottensteiner","year":"2003","journal-title":"IEEE Comput. Graph. Appl."},{"key":"ref_33","first-page":"25","article-title":"Automatic extraction of building features from terrestrial laser scanning","volume":"36","author":"Pu","year":"2006","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_34","first-page":"33","article-title":"Recognising structure in laser scanner point clouds","volume":"46","author":"Vosselman","year":"2004","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"357","DOI":"10.1007\/s10044-005-0018-2","article-title":"Complete classification of raw lidar data and 3D reconstruction of buildings","volume":"8","author":"Forlani","year":"2006","journal-title":"Pattern Anal. Appl."},{"key":"ref_36","first-page":"248","article-title":"Segmentation of point clouds using smoothness constraint","volume":"36","author":"Rabbani","year":"2006","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"doi-asserted-by":"crossref","unstructured":"Chauve, A.-L., Labatut, P., and Pons, J.-P. (2010, January 13\u201318). Robust piecewise-planar 3D reconstruction and completion from large-scale unstructured point data. Proceedings of the 2010 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), San Francisco, CA, USA.","key":"ref_37","DOI":"10.1109\/CVPR.2010.5539824"},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"183","DOI":"10.1016\/j.isprsjprs.2014.04.022","article-title":"A global optimization approach to roof segmentation from airborne lidar point clouds","volume":"94","author":"Yan","year":"2014","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1016\/S0262-8856(98)00092-4","article-title":"Development of a graph-based approach for building detection","volume":"17","author":"Kim","year":"1999","journal-title":"Image Vis. Comput."},{"doi-asserted-by":"crossref","unstructured":"Wang, L., and Chu, H. Graph theoretic segmentation of airborne lidar data. Proc. SPIE, 2008.","key":"ref_40","DOI":"10.1117\/12.777869"},{"doi-asserted-by":"crossref","unstructured":"Strom, J., Richardson, A., and Olson, E. (2010, January 18\u201322). Graph-based segmentation for colored 3D laser point clouds. Proceedings of the 2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan.","key":"ref_41","DOI":"10.1109\/IROS.2010.5650459"},{"unstructured":"Pauling, F., Bosse, M., and Zlot, R. (2009, January 2\u20134). Automatic segmentation of 3D laser point clouds by ellipsoidal region growing. Proceedings of the Australasian Conference on Robotics and Automation (ACRA 09), Sydney, New South Wales, Australia.","key":"ref_42"},{"unstructured":"Golovinskiy, A., and Funkhouser, T. (October, January 27). Min-cut based segmentation of point clouds. Proceedings of the IEEE 12th International Conference on Computer Vision Workshops (ICCV Workshops), Kyoto, Japan.","key":"ref_43"},{"key":"ref_44","first-page":"167","article-title":"Min-cut based segmentation of airborne lidar point clouds","volume":"1","author":"Ural","year":"2012","journal-title":"ISPRS Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"484","DOI":"10.1016\/j.isprsjprs.2011.02.007","article-title":"Building roof modeling from airborne laser scanning data based on level set approach","volume":"66","author":"Kim","year":"2011","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_46","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/s11263-011-0437-z","article-title":"Fast approximate energy minimization with label costs","volume":"96","author":"Delong","year":"2012","journal-title":"Int. J. Comput. Vis."},{"unstructured":"Wu, S.-T., and Marquez, M.R.G. (2003, January 12\u201315). A non-self-intersection douglas-peucker algorithm. Proceedings of the SIBGRAPI 2003 XVI Brazilian Symposium on Computer Graphics and Image, Brazil.","key":"ref_47"},{"key":"ref_48","doi-asserted-by":"crossref","first-page":"73","DOI":"10.1127\/1432-8364\/2010\/0041","article-title":"The dgpf-test on digital airborne camera evaluation\u2013Overview and test design","volume":"2010","author":"Cramer","year":"2010","journal-title":"Photogramm. Fernerkund. Geoinf."},{"key":"ref_49","doi-asserted-by":"crossref","first-page":"11","DOI":"10.1109\/JSTARS.2009.2012488","article-title":"A comparison of evaluation techniques for building extraction from airborne laser scanning","volume":"2","author":"Rutzinger","year":"2009","journal-title":"IEEE J. Sel. Top. Appl. Earth Obs. Remote Sens."},{"key":"ref_50","doi-asserted-by":"crossref","first-page":"27","DOI":"10.1061\/(ASCE)0733-9453(2005)131:1(27)","article-title":"Quality of building extraction from ikonos imagery","volume":"131","author":"Shan","year":"2005","journal-title":"J. Surv. Eng."},{"key":"ref_51","doi-asserted-by":"crossref","first-page":"457","DOI":"10.1016\/j.isprsjprs.2010.06.001","article-title":"Automatic detection of residential buildings using lidar data and multispectral imagery","volume":"65","author":"Awrangjeb","year":"2010","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_52","doi-asserted-by":"crossref","first-page":"167","DOI":"10.1007\/s11263-009-0251-z","article-title":"Benchmarking image segmentation algorithms","volume":"85","author":"Estrada","year":"2009","journal-title":"Int. J. Comput. Vis."}],"container-title":["Remote Sensing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2072-4292\/8\/5\/383\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T19:23:21Z","timestamp":1760210601000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2072-4292\/8\/5\/383"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,5,5]]},"references-count":52,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2016,5]]}},"alternative-id":["rs8050383"],"URL":"https:\/\/doi.org\/10.3390\/rs8050383","relation":{},"ISSN":["2072-4292"],"issn-type":[{"type":"electronic","value":"2072-4292"}],"subject":[],"published":{"date-parts":[[2016,5,5]]}}}