Onboard LiDAR tower head power line automatic detection and segmentation method

The invention discloses a method for detecting and segmenting a power line at a tower head of a high voltage power transmission tower from onboard LiDAR (Light Detection And Ranging) based on geometric characteristics. The method includes elevation constrained tower head region point cloud data segmentation, distance constrained tower body interference point cloud data removal, generation of a projection characteristic map of the tower head region point cloud data subjected to tower body removal, power line layering elevation value extraction adopting a threading method, elevation layering ofelevation constrained tower head point cloud data, generation of a projection density characteristic map of elevation layering point cloud data, power line seed point extraction in the projection density characteristic map and altitude difference constraint power line point cloud data extraction adopting an iteration region growing method. By adopting the above steps, power line detection and extraction work in the tower