Building boundary tracing and regularization from airborne lidar point clouds

Building boundary is necessary for the real estate industry, flood management, and homeland security applications. The extraction of building boundary is also a crucial and difficult step towards generating city models. This study presents an approach to the tracing and regularization of building boundary from raw lidar point clouds. The process consists of a sequence of four steps: separate building and non-building lidar points; segment lidar points that belong to the same building; trace building boundary points; and regularize the boundary. For separation, a slope based 1D bi-directional filter is used. The segmentation step is a region-growing approach. By modifying a convex hull formation algorithm, the building boundary points are traced and connected to form an approximate boundary. In the final step, all boundary points are included in a hierarchical least squares solution with perpendicularity constraints to determine a regularized rectilinear boundary. Our tests conclude that the uncertainty of regularized building boundary tends to be linearly proportional to the lidar point spacing. It is shown that the regularization precision is at 18 percent to 21 percent of the lidar point spacing, and the maximum offset of the determined building boundary from the original lidar points is about the same as the lidar point spacing. Limitation of lidar data resolution and errors in previous filtering processes may cause artefacts in the final regularized building boundary. This paper presents the mathematical and algorithmic formulations along with stepwise illustrations. Results from Baltimore city, Toronto city, and Purdue University campus are evaluated.