Weighted-graph-based supervoxel segmentation of 3D point clouds in complex urban environment

A new method for supervoxel segmentation based on a weighted graph in complex urban environment is proposed. The proposed algorithm is designed to minimise the cost of the shortest path in the weighted graph with consideration of characteristics of the sensor for complex urban environment. We collected point clouds in a complex urban environment to evaluate the proposed method. The performance of the proposed algorithm was evaluated using boundary recall and undersegmentation errors.