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

arXiv: https://arxiv.org/abs/2511.03053 · HTML: https://mlsanity.com/paper/2511.03053/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 2 of its 28 references that are in the map.
- First posted on arXiv 4 Nov 2025.

## Builds on (most cited first, 2 of 2)

- [XGBoost: A Scalable Tree Boosting System](https://mlsanity.com/paper/1603.02754/) (2016)
- [Efficient 3D Semantic Segmentation with Superpoint Transformer](https://mlsanity.com/paper/2306.08045/) (2023)

## Abstract (arXiv)

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.