Vehicle-related ground occlusion is a common problem in MLS data. This study aims to design a detection and reconstruction method of static vehicle-related ground occlusion for MLS data. Ground extraction and vehicle segmentation are performed on the input point cloud data in advance. Then an α-shape boundary based on the prior vehicle geometry is designed to split non-ground empty area and ground occlusions. The occlusion is detected and matched with its corresponding vehicle using the relative position between them. This relative position relation and the height difference are used to detect the curb direction as the local road direction. Finally, the occlusions are reconstructed using two different methods: (1) a cell-based linear interpolation and (2) a point-based mathematical morphology. The methodology is tested by original scanned data and multi-temporal evaluation data captured from a residential area in Delft, the Netherlands with vehicle-mounted LiDAR sensors. The result shows that all occlusions cause by vehicles are successfully detected and the curb (road) direction is correctly extracted in most of the occluded areas. Both reconstructed results can visually integrate the original scanned data and recover the curb structure. The reconstruction errors of the linear interpolation method are 0.045 m in the z-axis direction and 0.051 m in total and the reconstruction errors of mathematical morphology are 0.048 m in the z-axis direction and 0.052 m in total.

车辆相关的地面遮挡是 MLS 数据中的常见问题。本研究旨在设计一种针对MLS数据的静态车辆相关地面遮挡检测与重建方法。预先对输入的点云数据进行地面提取和车辆分割。然后设计一个基于先验车辆几何形状的α形边界来分割非地面空白区域和地面遮挡。使用它们之间的相对位置检测遮挡并与其对应的车辆匹配。该相对位置关系和高度差用于将路缘方向检测为局部道路方向。最后，使用两种不同的方法重建遮挡：（1）基于单元的线性插值和（2）基于点的数学形态学。该方法通过使用车载激光雷达传感器从荷兰代尔夫特的一个住宅区捕获的原始扫描数据和多时态评估数据进行测试。结果表明，车辆引起的所有遮挡都被成功检测到，并且在大部分遮挡区域中正确提取了路缘（道路）方向。两种重建结果都可以直观地整合原始扫描数据并恢复路缘结构。线性插值法的重建误差在z轴方向为0.045 m，共0.051 m，数学形态学的重建误差在z轴方向为0.048 m，共0.052 m。结果表明，车辆引起的所有遮挡都被成功检测到，并且在大部分遮挡区域中正确提取了路缘（道路）方向。两种重建结果都可以直观地整合原始扫描数据并恢复路缘结构。线性插值法的重建误差在z轴方向为0.045 m，共0.051 m，数学形态学的重建误差在z轴方向为0.048 m，共0.052 m。结果表明，车辆引起的所有遮挡都被成功检测到，并且在大部分遮挡区域中正确提取了路缘（道路）方向。两种重建结果都可以直观地整合原始扫描数据并恢复路缘结构。线性插值法的重建误差在z轴方向为0.045 m，共0.051 m，数学形态学的重建误差在z轴方向为0.048 m，共0.052 m。