In the cultural heritage field, point clouds, as important raw data of geomatics, are not only three-dimensional (3D) spatial presentations of 3D objects but they also have the potential to gradually advance towards an intelligent data structure with scene understanding, autonomous cognition, and a decision-making ability. The approach of point cloud semantic segmentation as a preliminary stage can help to realize this advancement. With the demand for semantic comprehensibility of point cloud data and the widespread application of machine learning and deep learning approaches in point cloud semantic segmentation, there is a need for a comprehensive literature review covering the topics from the point cloud data acquisition to semantic segmentation algorithms with application strategies in cultural heritage. This paper first reviews the current trends of acquiring point cloud data of cultural heritage from a single platform with multiple sensors and multi-platform collaborative data fusion. Then, the point cloud semantic segmentation algorithms are discussed with their advantages, disadvantages, and specific applications in the cultural heritage field. These algorithms include region growing, model fitting, unsupervised clustering, supervised machine learning, and deep learning. In addition, we summarized the public benchmark point cloud datasets related to cultural heritage. Finally, the problems and constructive development trends of 3D point cloud semantic segmentation in the cultural heritage field are presented.

Three-dimensional point cloud has been widely used in the cultural heritage field in the last two decades, gaining attention from both academic and industry communities. A large number of scientific papers have been published concerning this topic, which covers a wide range of journals, countries, and disciplines. There has been no comprehensive and systematic survey of recent literature performed in a scientometric way based on the complex network analysis methods. In this work, we extracted the terms (i.e., noun phrases included in the title, abstract and keywords), the documents, the countries that the research institutions are located in, and the categories that the literature belongs to from the Web of Science database to compose a term co-occurrence network, document co-citation network, collaborative country network and category co-occurrence network using CiteSpace software. Through visualizing and analyzing those networks, we identified the research hotspots, landmark literature, national collaboration, interdisciplinary patterns as well as the emerging trends through assessing the central nodes and the nodes with strong citation bursts. This work not only provides a structured view on state-of-art literature, but also reveals the future trends of employing 3D point cloud data for cultural heritage, aiding researchers carry out further research in this area.

Because of the age of relics and the lack of historical data, the geometric forms of missing parts can only be judged by the subjective experience of repair personnel, which leads to varying restoration effects when the geometric structure of the complex relic is reconstructed. Therefore, virtual repair effects cannot fully reflect the historical appearance of cultural relics. In order to solve this problem, this paper presents a virtual restoration method based on the multiscale spatial geometric features of cultural relics in the case of complex construction where the geometric shape of the damaged area is unknown, using the Dazu Thousand-Hand Bodhisattva statue in China as an example. In this study, the global geometric features of the three-dimensional (3D) model are analyzed in space to determine the geometric shape of the damaged parts of cultural relics. The local geometric features are represented by skeleton lines based on regression analysis, and a geometric size prediction model of the defective parts is established, which is used to calculate the geometric dimensions of the missing parts. Finally, 3D surface reconstruction technology is used to quantitate virtual restoration of the defective parts. This method not only provides a new idea for the virtual restoration of artifacts with complex geometric structure, but also may play a vital role in the protection of cultural relics.

The digital documentation of cultural relics plays an important role in archiving, protection, and management. In the field of cultural heritage, three-dimensional (3D) point cloud data is effective at expressing complex geometric structures and geometric details on the surface of cultural relics, but lacks semantic information. To elaborate the geometric information of cultural relics and add meaningful semantic information, we propose a modeling and processing method of smart point clouds of cultural relics with complex geometries. An information modeling framework for complex geometric cultural relics was designed based on the concept of smart point clouds, in which 3D point cloud data are organized through the time dimension and different spatial scales indicating different geometric details. The proposed model allows smart point clouds or a subset to be linked with semantic information or related documents. As such, this novel information modeling framework can be used to describe rich semantic information and high-level details of geometry. The proposed information model not only expresses the complex geometric structure of the cultural relics and the geometric details on the surface, but also has rich semantic information, and can even be associated with documents. A case study of the Dazu Thousand-Hand Bodhisattva Statue, which is characterized by a variety of complex geometries, reveals that our proposed framework is capable of modeling and processing the statue with excellent applicability and expansibility. This work provides insights into the sustainable development of cultural heritage protection globally.

As immovable stone cultural heritage is kept in the open air, they are more susceptible to damage, and damage detection is very important for the protection and restoration of cultural heritage. This is especially true for gold-overlaid stone cultural heritage, which is usually more complicated than ordinary stone carvings. However, the detection of cultural heritage damages is mainly based on expert visual inspection, which is often subjective, time-consuming, and laborious. This paper uses the Mask R-CNN algorithm to rapidly and accurately detect the gold foil shedding of stone cultural heritage through two-dimensional images. The research data are from the high-precision images of the Dazu Thousand-Hand Bodhisattva Statue (World Heritage, UNESCO) in Chongqing, China. After cleaning and augmentation, 1900 images are input into Mask R-CNN model for training. Finally, the average precision value (AP) for detecting gold foil shedding is found to be 0.967. In order to test the performance of the model, the new images that do not participate in the training period are used, and it is found that the model can still accurately detect the gold foil shedding even if there are interference factors. This is the first attempt to detect the damages of gold-overlaid stone cultural heritage based on a deep learning algorithm, and it has achieved good results.

The timely detection of gold foil damage in gold-overlaid stone carvings and the associated maintenance of these relics pose several challenges to both the research and heritage protection communities internationally. This paper presents a new method for detecting gold foil damage by making use of multi-temporal 3D LiDAR point clouds. By analyzing the errors involved in the detection process, a formula is developed for calculation of the damage detection threshold. An improved division method for the linear octree that only allocates memory to the non-blank nodes, is proposed, which improves storage and retrieval efficiency for the point clouds. Meanwhile, the damage-occurrence regions are determined according to Hausdorff distances. Using a triangular mesh, damaged regions can be identified and measured in order to determine the relic’s total damaged area. Results demonstrate that this method can effectively detect gold foil damage in stone carvings. The identified surface area of damaged regions can provide the information needed for subsequent restoration and protection of relics of this type.