Earth documentation: Overpass detection using mobile Lidar

This paper presents an application of using geo-data from Lidar and GPS/IMU to detect overpasses. Three characteristics make it a good example of processing large point sets in real-time: a stream paradigm that exploits system parallelism and memory-access coherence, a multi-level detection strategy that distributes computational burden across different operations, and a multi-resolution data structure that suits the need of detecting urban objects. Experimental results proved the excellent performance in terms of speed and accuracy.