“…Thus, it is a very active research area in a wide range of applications from outdoor to indoor. The point cloud segmentation was used in different outdoor applications such as building roof plane segmentation with the Airborne Laser Scanning (ALS) point cloud data (Tarsha-Kurdi et al, 2007;Xu et al, 2016), building facade segmentation with the Terrestrial Laser Scanning (TLS) point cloud data (Ning et al, 2009;Vo et al, 2015), forest monitoring (Morsdorf et al, 2004;Ferraz et al, 2010), autonomous vehicles (Himmelsbach et al, 2010;Zermas et al, 2017), and 3D silhouette extraction of a street (Mutlu et al, 2014). The point cloud segmentation was also applied in indoor applications such as Building Information Modeling (BIM) (Anil et al, 2013;Qu et al, 2014), robotic applications (Rusu et al, 2008;Koppula et al, 2011), and object detection (Mattausch et al, 2014;Cadena and Košecka, 2015).…”