The Simplification of 3D color point cloud based on voxel

This paper gives a simplifying way of color point cloud. Firstly, we get the raw point cloud from the faro 3D Laser scanner, then we design our data structure to fit for managing the color point cloud, thirdly, utilizing statistical way we efficiently remove the outlier points and remain the inliers points. In the end, the point cloud is simplified based on voxels. Experiment shows that our method can directly manage the point cloud, and make efficient compression to the point cloud. At the same time, it can keep the color information, and the feature information is also well kept.