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Extraction of utility poles in LIDAR scans using cross-sectional slices

We present a method of extracting utility poles from variable density points clouds captured using a vehicle-based LIDAR. Our method slices a point cloud into discrete horizontal regions and project each of the points contained within a region onto a horizontal plane. We then search each of the horizontal planes for structures that resemble the cross section of vertical poles. After we have constructed a set of pole cross sections, we then search it for vertical stacks of pole cross sections. This method can complete the pole segmentation when foreign objects near or attached to the pole by ignoring these contaminated cross-sections. Once we have identified a vertical sequence of cross-sections, we create a model of the pole including pole diameter, location, and orientation.