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Figure 1: The proposed roof plane extraction technique.
Figure 2: A sample scene from the Vaihingen data set: (a) rawLIDAR points overlaid on an orthoimage, (b) building mask andnon-ground LIDAR points, (c) grouping and clustering of themask grid cells, and (d) clusters of non-ground LIDAR pointson buildings and large trees.
Table 1: Building detection results for the Vaihingen (VH) dataset. Object-based:(Pixel-based:centage
Table 2: Roof plane extraction results for the Vaihingen (VH)data set. Object-based:ness (under-segmentation /age;in number of planes; Cm = completeness and Cr = correct-Cm,10 and Cr,10 are for planes over 10m2) in percent- Se = segmentation error (1 : M over-segmentation / N : 1 N : M both over- and under-segmentation) Rp = planimetric accuracy and Rz = heighterror in metre.

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