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arXiv · 2511.03053

From Propagation to Prediction: Point-level Uncertainty Evaluation of MLS Point Clouds under Limited Ground Truth

Ziyang Xu·Olaf Wysocki·Christoph Holst
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Abstract

Evaluating uncertainty is critical for reliable use of Mobile Laser Scanning (MLS) point clouds in many high-precision applications such as Scan-to-BIM, deformation analysis, and 3D modeling. However, obtaining the ground truth (GT) for evaluation is often costly and infeasible in many real-world applications. To reduce this long-standing reliance on GT in uncertainty evaluation research, this study presents a learning-based framework for MLS point clouds that integrates optimal neighborhood estimation with geometric feature extraction. Experiments on a real-world dataset show that the proposed framework is feasible and the XGBoost model delivers fully comparable accuracy to Random Forest while achieving substantially higher efficiency (about 3 times faster), providing initial evidence that geometric features can be used to predict point-level uncertainty quantified by the C2C distance. In summary, this study shows that MLS point clouds' uncertainty is learnable, offering a novel learning-based viewpoint towards uncertainty evaluation research.

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Ziyang Xu, Olaf Wysocki, Christoph Holst. 2025-11-04. From Propagation to Prediction: Point-level Uncertainty Evaluation of MLS Point Clouds under Limited Ground Truth. https://arxiv.org/abs/2511.03053

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