Abstract: The present disclosure discloses an indoor structure segmentation method based on a laser measurement point cloud. The method includes the following steps: inputting an indoor three-dimensional point cloud, and performing supervoxel segmentation of the point cloud using a toward better boundary preserved supervoxel (TBBPS) segmentation method based on a given initial resolution r to extract a plane supervoxel unit; extracting surface point units in surface supervoxels by means of curvatures and normal vector changes; fitting an indoor plane model based on plane supervoxels; fitting an indoor surface model using a cylindrical simplex based on surface points; and based on an ?-expansion optimization algorithm, allocating the extracted supervoxel units and surface point units to an optimal model, so as to realize unit classification and segmentation.