Geometry-Aware Human Noise Removal from TLS Point Clouds via 2D Segmentation Projection

TL;DR

This paper introduces a new method to automatically remove human noise from large-scale 3D laser scan data using 2D segmentation and geometric filtering, achieving high accuracy and efficiency.

Contribution

A geometry-aware framework for automatic human noise removal in TLS point clouds using 2D segmentation and multi-stage geometric validation.

Findings

The proposed method achieves high precision, recall, and IoU scores on two real-world TLS datasets.

The method demonstrates stable performance on MMS data from the Waymo Open Dataset without recalibration.

Ablation studies confirm the robustness of the framework to reprojection errors.

Abstract

Large-scale terrestrial laser scanning (TLS) point clouds are increasingly used for applications such as digital twins and cultural heritage documentation; however, removing unwanted human points captured during acquisition remains a largely manual and time-consuming process. This study proposes a geometry-aware framework for automatically removing human noise from TLS point clouds by projecting 2D instance segmentation masks (obtained using You Only Look Once (YOLO) v8 with an instance segmentation head) into 3D space and validating candidates through multi-stage geometric filtering. To suppress false positives induced by reprojection misalignment and planar background structures (e.g., walls and ground), we introduce projection-followed geometric validation (or “geometric gating”) using Density-Based Spatial Clustering of Applications with Noise (DBSCAN) and principal component analysis (PCA)-based planarity analysis, followed by cluster-level plausibility checks. Experiments were conducted on two real-world outdoor TLS datasets—(i) Osaka Metropolitan University Sugimoto Campus (OMU) (82 scenes) and (ii) Jinaimachi historic district in Tondabayashi (JM) (68 scenes). The results demonstrate that the proposed method achieves high noise removal accuracy, obtaining precision/recall/intersection over union (IoU) of 0.9502/0.9014/0.8607 on OMU and 0.8912/0.9028/0.8132 on JM. Additional experiments on mobile mapping system (MMS) data from the Waymo Open Dataset demonstrate stable performance without parameter recalibration. Furthermore, quantitative and qualitative comparisons with representative time-series geometric dynamic object removal methods, including DUFOMap and BeautyMap, show that the proposed approach maintains competitive recall under a human-only ground-truth definition while reducing over-removal of static structures in TLS scenes, particularly when humans are observed in only one or a few scans due to limited revisit frequency. The end-to-end processing time with YOLOv8 was 935.62 s for 82 scenes (11.4 s/scene) on OMU and 571.58 s for 68 scenes (8.4 s/scene) on JM, supporting practical efficiency on high-resolution TLS imagery. Ablation studies further clarify the role of each stage and indicate stable performance under the observed reprojection errors. The annotated human point cloud dataset used in this study has been publicly released to facilitate reproducibility and further research on human noise removal in large-scale TLS scenes.

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