Associate Professor, Ph.D., IEEE Senior Member 

Faculty of Computer and Software Engineering 

Huaiyin Institute of Technology (HYIT)

Address: 1 Meicheng Road East, Huaian, JS 223003, P.R. China

Phone: +86-18252332286  E-mail: allennessy@hyit.edu.cn

Web: https://scholar.google.com.hk/citations?user=sY1AFdAAAAAJ&hl=zh-CN

RESEARCH AND PROFESSIONAL INTERESTS

◇ Mobile laser scanning systems for transportation infrastructure mapping

◇ Multispectral LiDAR processing for land-use/land-cover classification

◇ Remote sensing imagery processing for earth observation applications

◇ Transportation data interpretation for intelligent transportation systems

◇ Medical image interpretation for auxiliary diagnosis

❶ Education Background

◇ 2010.09-2015.06, Ph.D.

   Computer Science and Technology, School of Informatics, Xiamen University, P.R. China

◇ 2006.09-2010.07, Bachelor

   Computer Science and Technology, School of Informatics, Xiamen University, P.R. China

❷ Work Experience

◇ 2021.01-Present

   Associate Professor, Huaiyin Institute of Technology, P.R. China

◇ 2015.09-2020.12

   Assistant Professor, Huaiyin Institute of Technology, P.R. China

❸ Academic Service

◇ Editorial Board Member of International Journal of Applied Earth Observation and Geoinformation

◇ Managing Guest Editor for the Special Issue entitled “Advances in Remote Sensing for Intelligent Transportation Systems”, International Journal of Applied Earth Observation and Geoinformation

◇ Guest Editor for the Special Issue entitled “Point Cloud Understanding in LiDAR Remote Sensing”, International Journal of Applied Earth Observation and Geoinformation

◇ Guest Editor for the Special Issue entitled “Land Cover Classification Using Multispectral LiDAR Data”, Remote Sensing

◇ Guest Editor for the Special Issue entitled “Applications of Remote Sensing Imagery for Urban Areas”, Remote Sensing

◇ Guest Editor for the Special Issue entitled “Applications of Remote Sensing Imagery for Urban Areas”, Earth

◇ Project Reviewer for National Natural Science Foundation of China (NSFC)

◇ Journal Reviewer for IEEE TITS, IEEE TGRS, IEEE GRSL, IEEE JSTARS, ISPRS JPRS, JAG, IJRS, CJRS, Automation in Construction, etc.

❹ Publications Authored Articles:

1. Yongtao Yu, Haiyan Guan, Dilong Li, Yongjun Zhang, Shenghua Jin, and Changhui Yu, “CCapFPN: A context-augmented capsule feature pyramid network for pavement crack detection,” IEEE Transactions on Intelligent Transportation Systems, DOI: 10.1109/TITS.2020.3035663.

2. Yongtao Yu, Yinyin Li, Chao Liu, Jun Wang, Changhui Yu, Xiaoling Jiang, Lanfang Wang, Zuojun Liu, and Yongjun Zhang, “MarkCapsNet: Road marking extraction from aerial images using self-attention guided capsule network,” IEEE Geoscience and Remote Sensing Letters, vol. 19, pp. 3005505, 2022.

3. Yongtao Yu, Chao Liu, Junyong Gao, Shenghua Jin, Xiaoling Jiang, Mingxin Jiang, Haiyan Zhang, and Yahong Zhang, “Building extraction from remote sensing imagery with a high-resolution capsule network,” IEEE Geoscience and Remote Sensing Letters, vol. 19, pp. 8015905, 2022.

4. Yongtao Yu, Chao Liu, Haiyan Guan, Lanfang Wang, Shangbing Gao, Haiyan Zhang, Yahong Zhang, and Jonathan Li, “Land cover classification of multispectral LiDAR data with an efficient self-attention capsule network,” IEEE Geoscience and Remote Sensing Letters, vol. 19, pp. 6501505, 2022.

5. Yongtao Yu, Jun Wang, Hao Qiang, Mingxin Jiang, E Tang, Changhui Yu, Yongjun Zhang, and Jonathan Li, “Sparse anchoring guided high-resolution capsule network for geospatial object detection from remote sensing imagery,” International Journal of Applied Earth Observation and Geoinformation, vol. 104, pp. 102548, 2021.

6. Yongtao Yu, Jun Wang, Haiyan Guan, Shenghua Jin, Yongjun Zhang, Changhui Yu, E Tang, Shaozhang Xiao, and Jonathan Li, “CS-CapsFPN: A context-augmentation and self-attention capsule feature pyramid network for road network extraction from remote sensing imagery,” Canadian Journal of Remote Sensing, vol. 47, no. 3, pp. 499-517, 2021.

7. Yongtao Yu, Junyong Gao, Chao Liu, Haiyan Guan, Dilong Li, Changhui Yu, Shenghua Jin, Fenfen Li, and Jonathan Li, “OA-CapsNet: A one-stage anchor-free capsule network for geospatial object detection from remote sensing imagery,” Canadian Journal of Remote Sensing, vol. 47, no. 3, pp. 485-498, 2021.

8. Yongtao Yu, Yongfeng Ren, Haiyan Guan, Dilong Li, Changhui Yu, Shenghua Jin, and Lanfang Wang, “Capsule feature pyramid network for building footprint extraction from high-resolution aerial imagery”, IEEE Geoscience and Remote Sensing Letters, vol. 18, no. 5, pp. 895-899, 2021.

9. Yongtao Yu, Haiyan Guan, Dilong Li, and Changhui Yu, “A cascaded deep convolutional network for vehicle logo recognition from frontal and rear images of vehicles,” IEEE Transactions on Intelligent Transportation Systems, vol. 22, no. 2, pp. 758-771, 2021.

10. Yongtao Yu, Yuting Yao, Haiyan Guan, Dilong Li, Zuojun Liu, Lanfang Wang, Changhui Yu, Shaozhang Xiao, Wenhao Wang, and Lv Chang, “A self-attention capsule feature pyramid network for water body extraction from remote sensing imagery,” International Journal of Remote Sensing, vol. 42, no. 5, pp. 1801-1822, 2021.

11. Yongtao Yu, Haiyan Guan, Dilong Li, Tiannan Gu, Lanfang Wang, Lingfei Ma, and Jonathan Li, “A hybrid capsule network for land cover classification using multispectral LiDAR data,” IEEE Geoscience and Remote Sensing Letters, vol. 17, no. 7, pp. 1263-1267, 2020.

12. Yongtao Yu, Haiyan Guan, Dilong Li, Shenghua Jin, Taiyue Chen, Cheng Wang, and Jonathan Li, “3-D feature matching for point cloud object extraction,” IEEE Geoscience and Remote Sensing Letters, vol. 17, no. 2, pp. 322-326, 2020.

13. Yongtao Yu, Haiyan Guan, Dilong Li, Chunhua Jin, Cheng Wang, and Jonathan Li, “Road manhole cover delineation using mobile laser scanning point cloud data,” IEEE Geoscience and Remote Sensing Letters, vol. 17, no. 1, pp. 152-156, 2020.

14. Yongtao Yu, Haiyan Guan, Dilong Li, Tiannan Gu, E Tang, and Aixia Li, “Orientation guided anchoring for geospatial object detection from remote sensing imagery,” ISPRS Journal of Photogrammetry and Remote Sensing, vol. 160, pp. 67-82, 2020.

15. Yongtao Yu, Yan Yuan, Haiyan Guan, Dilong Li, and Tiannan Gu, “Aeroplane detection from high-resolution remotely sensed imagery using bag-of-visual-words based hough forests,” International Journal of Remote Sensing, vol. 41, no. 1, pp. 114-131, 2020.

16. Yongtao Yu, Tiannan Gu, Haiyan Guan, Dilong Li, and Shenghua Jin, “Vehicle detection from high-resolution remote sensing imagery using convolutional capsule networks,” IEEE Geoscience and Remote Sensing Letters, vol. 16, no. 12, pp. 1894-1898, 2019.

17. Yongtao Yu, Jonathan Li, Chenglu Wen, Haiyan Guan, Huan Luo, and Cheng Wang, “Bag-of-visual-phrases and hierarchical deep models for traffic sign detection and recognition in mobile laser scanning data,” ISPRS Journal of Photogrammetry and Remote Sensing, vol. 113, pp. 106-123, 2016.

18. Yongtao Yu, Haiyan Guan, Dawei Zai, and Zheng Ji, “Rotation-and-scale-invariant airplane detection in high-resolution satellite images based on deep-hough-forests,” ISPRS Journal of Photogrammetry and Remote Sensing, vol. 112, pp. 50-64, 2016.

19. Yongtao Yu, Jonathan Li, Haiyan Guan, and Cheng Wang, “Automated detection of three-dimensional  cars in mobile laser scanning point clouds using DBM-hough-forests,” IEEE Transactions on Geoscience and Remote Sensing, vol. 54, no. 7, pp. 4130-4142, 2016.

20. Yongtao Yu, Jonathan Li, Haiyan Guan, Cheng Wang, and Chenglu Wen, “Bag of contextual-visual words for road scene object detection from mobile laser scanning data,” IEEE Transactions on Intelligent Transportation Systems, vol. 17, no. 12, pp. 3391-3406, 2016.

21. Yongtao Yu, Jonathan Li, Haiyan Guan, Cheng Wang, and Jun Yu, “Semiautomated extraction of street light poles from mobile LiDAR point-clouds,” IEEE Transactions on Geoscience and Remote Sensing, vol. 53, no. 3, pp. 1374-1386, 2015.

22. Yongtao Yu, Haiyan Guan, and Zheng Ji, “Automated detection of urban road manhole covers using mobile laser scanning data,” IEEE Transactions on Intelligent Transportation Systems, vol. 16, no. 6, pp. 3258-3269, 2015.

23. Yongtao Yu, Jonathan Li, Haiyan Guan, and Cheng Wang, “Automated extraction of urban road facilities using mobile laser scanning data,” IEEE Transactions on Intelligent Transportation Systems, vol. 16, no. 4, pp. 2167-2181, 2015.

24. Yongtao Yu, Haiyan Guan, and Zheng Ji, “Rotation-invariant object detection in high-resolution satellite imagery using superpixel-based deep hough forests,” IEEE Geoscience and Remote Sensing Letters, vol. 12, no. 11, pp. 2183-2187, 2015.

25. Yongtao Yu, Jonathan Li, Haiyan Guan, Fukai Jia, and Cheng Wang, “Three-dimensional object matching in mobile laser scanning point clouds,” IEEE Geoscience and Remote Sensing Letters, vol. 12, no. 3, pp. 492-496, 2015.

26. Yongtao Yu, Jonathan Li, Haiyan Guan, Fukai Jia, and Cheng Wang, “Learning hierarchical features for automated extraction of road markings from 3-D mobile LiDAR point clouds,” IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing, vol. 8, no. 2, pp. 709-726, 2015.

27. Yongtao Yu, Jonathan Li, Haiyan Guan, Cheng Wang, and Jun Yu, “Automated detection of road manhole and sewer well covers from mobile LiDAR point clouds,” IEEE Geoscience and Remote Sensing Letters, vol. 11, no. 9, pp. 1549-1553, 2014.

28. Yongtao Yu, Jonathan Li, Jun Yu, Haiyan Guan, and Cheng Wang, “Pairwise three-dimensional shape

context for partial object matching and retrieval on mobile laser scanning data,” IEEE Geoscience and Remote Sensing Letters, vol. 11, no. 5, pp. 1019-1023, 2014.

29. Yongtao Yu, Jonathan Li, Haiyan Guan, and Cheng Wang, “A marked point process for automated building detection from LiDAR point-clouds,” Remote Sensing Letters, vol. 4, no. 11, pp. 1127-1136, 2013.

30. Yongtao Yu, Jonathan Li, Haiyan Guan, and Cheng Wang, “Detection of road surface cracks from mobile laser scanning data,” MMT2013, Tainan, Taiwan, 6pp, 2013. (Best Student Paper Award)

Coauthored Articles:

1. Haiyan Guan, Yongtao Yu, Dilong Li, and Hanyun Wang, “RoadCapsFPN: Capsule Feature Pyramid Network for Road Extraction from VHR Optical Remote Sensing Imagery,” IEEE Transactions on Intelligent Transportation Systems, DOI: 10.1109/TITS.2021.3098855.

2. Xinghua Li, Yongtao Yu, Xiaobin Guan, and Ruitao Feng, “Overview of the special issue on applications of remote sensing imagery for urban areas,” Remote Sensing, vol. 14, no. 5, pp. 1204, 2022.

3. Dilong Li, Xin Shen, Haiyan Guan, Yongtao Yu, Hanyun Wang, Guo Zhang, Jonathan Li, and Deren Li, “AGFP-Net: Attentive geometric feature pyramid network for land cover classification using airborne multispectral LiDAR data,” International Journal of Applied Earth Observation and Geoinformation, vol. 108, pp. 102723, 2022.

4. Haiyan Guan, Xiangda Lei, Yongtao Yu, Haohao Zhao, Daifeng Peng, José Marcato Junior, and Jonathan Li, “Road marking extraction in UAV imagery using attentive capsule feature pyramid network,” International Journal of Applied Earth Observation and Geoinformation, vol. 107, pp. 102677, 2022.

5. Jingjing Wan, Bolun Chen, and Yongtao Yu, “Polyp detection from colorectum images by using attentive YOLOv5,” Diagnostics, vol. 11, no. 12, pp. 2264, 2021.

6. Peiran Zhao, Haiyan Guan, Dilong Li, Yongtao Yu, Hanyun Wang, Kyle Gao, José Marcato Junior, and Jonathan Li, “Airborne multispectral LiDAR point cloud classification with a feature Reasoning-based graph convolution network,” International Journal of Applied Earth Observation and Geoinformation, vol. 105, pp. 102634, 2021.

7. Bolun Chen, Jingjing Wan, Taiyue Chen, Yongtao Yu, and Min Ji, “A self-attention based faster R-CNN for polyp detection from colonoscopy images,” Biomedical Signal Processing and Control, vol. 70, pp. 103019, 2021.

8. Zhuangwei Jing, Haiyan Guan, Peiran Zhao, Dilong Li, Yongtao Yu, Yufu Zang, Hanyun Wang, and Jonathan Li, “Multispectral LiDAR point cloud classification using SE-PointNet++,” Remote Sensing, vol. 13, no. 13, pp. 2516, 2021.

9. Lingfei Ma, Ying Li, Jonathan Li, Yongtao Yu, José Marcato Junior, Wesley Nunes Gonçalves,  and Michael A. Chapman, “Capsule-based networks for road marking extraction and classification from mobile LiDAR point clouds,” IEEE Transactions on Intelligent Transportation Systems, vol. 22, no. 4, pp. 1981-1995, 2021.

10. Lingfei Ma, Ying Li, Jonathan Li, Weikai Tan, Yongtao Yu, and Michael A. Chapman, “Multi-scale point-wise convolutional neural networks for 3D object segmentation from LiDAR point clouds in large-scale environments,” IEEE Transactions on Intelligent Transportation Systems, vol. 22, no. 2, pp. 821-836, 2021.

11. Dilong Li, Xin Shen, Yongtao Yu, Haiyan Guan, Jonathan Li, Guo Zhang, and Deren Li, “Building extraction from airborne multi-spectral LiDAR point clouds based on graph geometric moments convolutional neural networks,” Remote Sensing, vol. 12, no. 19, pp. 3186: 1-24, 2020.

12. Yongfeng Ren, Yongtao Yu, and Haiyan Guan, “DA-CapsUNet: A dual-attention capsule U-Net for road extraction from remote sensing imagery,” Remote Sensing, vol. 12, no. 18, pp. 2866: 1-17, 2020.

13. Dilong Li, Xin Shen, Yongtao Yu, Haiyan Guan, Hanyun Wang, and Deren Li, “GGM-Net: Graph geometric moments convolution neural network for point cloud shape classification,” IEEE Access, vol. 8, pp. 124989-124998, 2020.

14. Suoyan Pan, Haiyan Guan, Yating Chen, Yongtao Yu, Wesley Nunes Gonçalves, José Marcato Junior, and Jonathan Li, “Land-cover classification of multispectral LiDAR data using CNN with optimized hyper-parameters,” ISPRS Journal of Photogrammetry and Remote Sensing, vol. 166, pp. 241-254, 2020.

15. Haiyan Guan, Yongtao Yu, Daifeng Peng, Yufu Zang, Jianyong Lu, Aixia Li, and Jonathan Li, “A convolutional capsule network for traffic-sign recognition using mobile LiDAR data with digital images,” IEEE Geoscience and Remote Sensing Letters, vol. 17, no. 6, pp. 1067-1071, 2020.

16. Wanqian Yan, Haiyan Guan, Lin Cao, Yongtao Yu, Cheng Li, and Jianyong Lu, “A self-adaptive mean shift tree-segmentation method using UAV LiDAR data,” Remote Sensing, vol. 12, no. 3, pp. 515: 1-15, 2020.

17. Suoyan Pan, Haiyan Guan, Yongtao Yu, Jonathan Li, and Daifeng Peng, “A comparative land-cover classification feature study of learning algorithms: DBM, PCA, and RF using multispectral LiDAR data,” IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing, vol. 12, no. 4, pp. 1314-1326, 2019.

18. Shuang Cao, Yongtao Yu, Haiyan Guan, Daifeng Peng, and Wanqian Yan, “Affine-function transformation-based object matching for vehicle detection from unmanned aerial vehicle imagery,” Remote Sensing, vol. 11, no. 14, pp. 1708: 1-21, 2019.

19. Huan Luo, Cheng Wang, Chenglu Wen, Ziyi Chen, Dawei Zai, Yongtao Yu, and Jonathan Li, “Semantic labeling of mobile LiDAR point clouds via active learning and higher order MRF,” IEEE Transactions on Geoscience and Remote Sensing, vol. 56, no. 7, pp. 3631-3644, 2018.

20. Haiyan Guan, Wanqian Yan, Yongtao Yu, Liang Zhong, and Dilong Li, “Robust traffic-sign detection and classification using mobile LiDAR data with digital images,” IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing, vol. 11, no. 5, pp. 1715-1724, 2018.

21. Wanqian Yan, Haiyan Guan, Lin Cao, Yongtao Yu, Sha Gao, and Jianyong Lu, “An automated  hierarchical approach for three-dimensional segmentation of single trees using UAV LiDAR data,” Remote Sensing, vol. 10, no. 12, pp. 1999: 1-16, 2018.

22. Dilong Li, Yongtao Yu, Haiyan Guan, and Liang Zhong, “Aeroplane detection in very-high-resolution images using deep feature representation and rotation-invariant Hough forests,” International Journal of Remote Sensing, vol. 38, no. 23, pp. 6882-6893, 2017.

23. Fan Wu, Chenglu Wen, Yulan Guo, Jingjing Wang, Yongtao Yu, Cheng Wang, and Jonathan Li, “Rapid localization and extraction of street light poles in mobile LiDAR point clouds: A supervoxel-based approach,” IEEE Transactions on Intelligent Transportation Systems, vol. 18, no. 2, pp. 292-305, 2017.

24. Haiyan Guan, Yongtao Yu, Jonathan Li, Zheng Ji, and Qi Zhang, “Extraction of power-transmission lines from vehicle-borne LiDAR data,” International Journal of Remote Sensing, vol. 37, no. 1, pp. 229-247, 2016.

25. Ziyi Chen, Cheng Wang, Huan Luo, Hanyun Wang, Yiping Chen, Chenglu Wen, Yongtao Yu, Liujuan Cao, and Jonathan Li, “Vehicle detection in high-resolution aerial images based on fast sparse representation classification and multiorder feature,” IEEE Transactions on Intelligent Transportation Systems, vol. 17, no. 8, pp. 2296-2309, 2016.

26. Huan Luo, Cheng Wang, Chenglu Wen, Zhipeng Cai, Ziyi Chen, Hanyun Wang, Yongtao Yu, and  Jonathan Li, “Patch-based semantic labeling of road scene using colorized mobile LiDAR point clouds,” IEEE Transactions on Intelligent Transportation Systems, vol. 17, no. 5, pp. 1286-1297, 2016.

27. Chenglu Wen, Jonathan Li, Huan Luo, Yongtao Yu, Zhipeng Cai, Hanyun Wang, and Cheng Wang, “Spatial-related traffic sign inspection for inventory purposes using mobile laser scanning data,” IEEE Transactions on Intelligent Transportation Systems, vol. 17, no. 1, pp. 27-37, 2016.

28. Haiyan Guan, Yongtao Yu, Jonathan Li, and Pengfei Liu, “Pole-like road object detection in mobile LiDAR data via supervoxel and bag-of-contextual-visual-words representation,” IEEE Geoscience and Remote Sensing Letters, vol. 13, no. 4, pp. 520-524, 2016.

29. Haiyan Guan, Jonathan Li, Shuang Cao, and Yongtao Yu, “Use of mobile LiDAR in road information inventory: A review,” International Journal of Image and Data Fusion, vol. 7, no. 3, pp. 219-242, 2016.

30. Liang Zhong, Pengfei Liu, Liuzhao Wang, Zhanying Wei, Haiyan Guan, and Yongtao Yu, “A combination of stop-and-go and electro-tricycle laser scanning systems for rural cadastral surveys,” ISPRS International Journal of Geo-Information, vol. 5, no. 9, pp. 160: 1-18, 2016.

31. Zheng Ji, Mengxiao Song, Haiyan Guan, and Yongtao Yu, “Accurate and robust registration of high-speed railway viaduct point clouds using closing conditions and external geometric constraints,” ISPRS Journal of Photogrammetry and Remote Sensing, vol. 106, pp. 55-67, 2015.

32. Haiyan Guan, Jonathan Li, Yongtao Yu, Michael Chapman, Hanyun Wang, Cheng Wang, and Ruifang Zhai, “Iterative tensor voting for pavement crack extraction using mobile laser scanning data,” IEEE Transactions on Geoscience and Remote Sensing, vol. 53, no. 3, pp. 1527-1537, 2015.

33. Haiyan Guan, Jonathan Li, Yongtao Yu, Zheng Ji, and Cheng Wang, “Using mobile LiDAR data for rapidly updating road markings,” IEEE Transactions on Intelligent Transportation Systems, vol. 16, no. 5, pp. 2457-2466, 2015.

34. Haiyan Guan, Jonathan Li, Yongtao Yu, Michael Chapman, and Cheng Wang, “Automated road information extraction from mobile laser scanning data,” IEEE Transactions on Intelligent Transportation Systems, vol. 16, no. 1, pp. 194-205, 2015.

35. Haiyan Guan, Yongtao Yu, Zheng Ji, Jonathan Li, and Qi Zhang, “Deep learning-based tree classification using mobile LiDAR data,” Remote Sensing Letters, vol. 6, no. 11, pp. 864-873, 2015.

36. Haiyan Guan, Jonathan Li, Yongtao Yu, Cheng Wang, Michael Chapman, and Bisheng Yang, “Using mobile laser scanning data for automated extraction of road markings,” ISPRS Journal of Photogrammetry and Remote Sensing, vol. 87, pp. 93-107, 2014.

37. Haiyan Guan, Jonathan Li, Yongtao Yu, Liang Zhong, and Zheng Ji, “DEM generation from LiDAR data in wooded mountain areas by cross-section-plane analysis,” International Journal of Remote Sensing, vol. 35, no. 3, pp. 927-948, 2014.

38. Haiyang Guan, Yongtao Yu, Jonathan Li, Pengfei Liu, Haohao Zhao, and Cheng Wang, “Automated extraction of manhole covers using mobile LiDAR data,” Remote Sensing Letters, vol. 5, no. 12, pp. 1042-1050, 2014.

39. Haiyan Guan, Jonathan Li, Liang Zhong, Yongtao Yu, and Michael Chapman, “Process virtualization of large-scale LiDAR data in a cloud computing environment,” Computers & Geosciences, vol. 60, pp. 109-116, 2013.

❺ Patents

◇ Shangbing Gao, Tao Chen, Jun Zhou, Zhengwei Zhang, Haiyan Zhang, Yongtao Yu, Hailin Jiang, Suqun Cao, Fangzhe Qin, and Guilian He, 2019. A technique for vehicle type categorization based on lane markings, ZL 201710396082.X.

◇ Jonathan Li, Yongtao Yu, Haiyan Guan, Cheng Wang, and Jun Yu, 2016. A technique for automated extraction of street light poles from mobile laser scanning point clouds, ZL 201310486495.9.

◇ Jonathan Li, Haiyan Guan, and Yongtao Yu, 2016. A technique for automated extraction of road markings from mobile laser scanning point clouds, ZL 201310483555.1.

◇ Jonathan Li, Yongtao Yu, Haiyan Guan, and Cheng Wang, 2014. A technique for automated classification of urban road markings in mobile laser scanning point clouds, CN 201410171408.5.