Study of Base Segmenting Algorithm of Substation Equipment Based on 3D Point Cloud

  • Pengshuai Wang
  • Yong LuoEmail author
  • Weiying Guo
Original Article



Segmenting affiliated facilities from the point cloud is the key of 3D identification of the equipment.


This paper proposes a method to segment an equipment’s base from the equipment according to the change trend of the horizontally-projected areas of the layers formed by layering the equipment, thereby reducing the workload of manual segmentation of the base and improving the efficiency of intelligent identification of substation equipment. At the same time, the paper improves Iterative Closest Point (ICP) algorithm by using ICP error to jump out early of the iteration process of ICP, to reduce the iteration steps and shorten the matching time.


The experimental results show that the identification rate of substation equipment is greatly improved by the base segmenting algorithm.


The improved ICP algorithm significantly shortens the identification time, and has little impact on the identification rate.


Point cloud Base segmenting 3D identification ICP Substation equipment 



This work was supported by Industry-Uni.-Research Collaboration Project of Henan province (Grant no. 152107000058), Young Teacher Foundation of Henan province (Grant no. 2015GGJS-148), and the Science and Technology Key Project of Henan province (Grant no. 152102210036).


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Copyright information

© The Korean Institute of Electrical Engineers 2019

Authors and Affiliations

  1. 1.School of Electrical EngineeringZhengzhou UniversityZhengzhouPeople’s Republic of China
  2. 2.Avic Xinhang Yubei Steering System (Xinxiang) CO., LTD.XinxiangPeople’s Republic of China

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