A Multilevel Point Cloud Classification Method for Underground Tunnels Based on Three-Dimensional Moving LiDAR Measurements

Figure 12

Processing flow step-by-step result display diagram. (a). The first-layer clustering algorithm extracts the point cloud of the tunnel surface; (b) the second-layer clustering algorithm extracts the road point cloud; (c) the third-layer clustering algorithm extracts the internal plane point cloud; (d) the fourth-layer clustering algorithm extracts the internal pipeline point cloud.

(a)

(b)

(c)

(d)