Segmentation of LiDAR point cloud data in urban areas using adaptive neighborhood selection technique.

Semantic segmentation of urban areas using Light Detection and Ranging (LiDAR) point cloud data is challenging due to the complexity, outliers, and heterogeneous nature of the input point cloud data. The machine learning-based methods for segmenting point clouds suffer from the imprecise computation of the training feature values. The most important factor that influences how precisely the feature values are computed is the neighborhood chosen by each point.