In this paper, we present an approach to detecting and locating trees using LiDAR point data. The motivation for this issue comes from urban planning and management, in which LiDAR data is used to obtain information of the cities. As for the echo characteristic of the LiDAR data is sensitive for the trees , we propose a three-step method for tree detection consisting of data- preprocessing, tree-points extraction and connectivity detection and merging, which make full use of the echo information for the LiDAR points to get the location of the trees in the urban areas.
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