Next Article in Journal
Analyzing the Impact of Highways Associated with Farmland Loss under Rapid Urbanization
Next Article in Special Issue
Granulometric Analysis on Remote Sensing Images: Application to Mapping Retrospective Changes in the Sahelian Ligneous Cover
Previous Article in Journal
Geospatial Information Categories Mapping in a Cross-lingual Environment: A Case Study of “Surface Water” Categories in Chinese and American Topographic Maps
Previous Article in Special Issue
Morphological Principal Component Analysis for Hyperspectral Image Analysis
Article Menu

Export Article

Open AccessArticle
ISPRS Int. J. Geo-Inf. 2016, 5(6), 93;

Morphological Operations to Extract Urban Curbs in 3D MLS Point Clouds

Department of Physics and Mathematics, Alcalá University, Campus Universitario Ctra. Madrid-Barcelona, km. 33,600, Alcalá de Henares 28871, Spain
Department of Mining Exploitation and Prospecting, University of Oviedo, Escuela Politécnica de Mieres, C/Gonzalo Gutiérrez Quirós, Mieres 33600, Spain
These authors contributed equally to this work.
Author to whom correspondence should be addressed.
Academic Editors: Beatriz Marcotegui and Wolfgang Kainz
Received: 24 December 2015 / Revised: 9 May 2016 / Accepted: 9 May 2016 / Published: 14 June 2016
(This article belongs to the Special Issue Mathematical Morphology in Geoinformatics)
Full-Text   |   PDF [6192 KB, uploaded 14 June 2016]   |  


Automatic curb detection is an important issue in road maintenance, three-dimensional (3D) urban modeling, and autonomous navigation fields. This paper is focused on the segmentation of curbs and street boundaries using a 3D point cloud captured by a mobile laser scanner (MLS) system. Our method provides a solution based on the projection of the measured point cloud on the XY plane. Over that plane, a segmentation algorithm is carried out based on morphological operations to determine the location of street boundaries. In addition, a solution to extract curb edges based on the roughness of the point cloud is proposed. The proposed method is valid in both straight and curved road sections and applicable both to laser scanner and stereo vision 3D data due to the independence of its scanning geometry. The proposed method has been successfully tested with two datasets measured by different sensors. The first dataset corresponds to a point cloud measured by a TOPCON sensor in the Spanish town of Cudillero. The second dataset corresponds to a point cloud measured by a RIEGL sensor in the Austrian town of Horn. The extraction method provides completeness and correctness rates above 90% and quality values higher than 85% in both studied datasets. View Full-Text
Keywords: curbs; road boundaries; 3D point cloud; segmentation; feature extraction curbs; road boundaries; 3D point cloud; segmentation; feature extraction

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

Share & Cite This Article

MDPI and ACS Style

Rodríguez-Cuenca, B.; García-Cortés, S.; Ordóñez, C.; Alonso, M.C. Morphological Operations to Extract Urban Curbs in 3D MLS Point Clouds. ISPRS Int. J. Geo-Inf. 2016, 5, 93.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
ISPRS Int. J. Geo-Inf. EISSN 2220-9964 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top