Building contours and corners

as common registration primitives of multi-platform LiDAR data

are drawing more and more attraction on their extraction. Density of projected points(DoPP)method is a usual approach for building contours and corners extraction from terrestrial LiDAR

however previous studies paid little attention on the determination of grid density threshold

which directly affects the extraction results.In this paper

we propose a building contour density estimation method

which can provide a grid density threshold according to the actual point cloud

so that accurate building contours can be extracted. On this basis

the extracted contours are segmented and recovered using contour segmentation and density extension method

thus complete building contours are obtained. Finally

building corners are gained through the intersection of building contours. The experiment shows that the proposed method can effectively extract building contours and corners from terrestrial LiDAR with high correctness

completeness and positioning precision.