机载LiDAR具有快速、直接获取地物3维坐标的能力，在电网高压输电线路安全巡检中具有较大的应用前景。论文针对机载LiDAR输电线智能巡检的需求，提出并实现了一种基于空间域分割的LiDAR点云数据输电线自动提取方法。该方法首先利用高程直方图统计法去除地面点，再次利用点云密度差异剔除杆塔，根据相邻线之间的距离差和相邻层的高程差进行单根输电线分离。最后，采用多项式模型在3维空间中重构每根输电线空间坐标。实验结果表明该方法能够快速自动地提取多个杆塔之间的多根输电线数据，具有一定的工程应用价值。

Airborne LiDAR is now becoming a rapid method to acquire three-dimensional coordinates of the ground objects automatically, which has great potential applications on power lines inspection. According to the demand of the intelligent power lines inspection, a power lines extraction method based on spatial domain segmentation was proposed in this paper. First, the method adopted the elevation histogram statistical method to remove ground objects. Second, pylons along the corridor were identified based on the difference of the point cloud density. Third, single power lines was isolated from each other based on the distance threshold between two neighborhood lines and height threshold between two neighborhood level of lines using a spatial domain segmentation algorithm. Finally, a simplified polynomial model was applied to model the geometry of each power line in three-dimensional space. Experimental results showed that the method can be applied to extract power lines with multiple spans simultaneously, and demonstrated its potential advantages in power-lines inspection application.