The huge number of points scanned from pipeline plants make the plant reconstruction very difficult. Traditional cylinder
detection methods cannot be applied directly due to the high computational complexity. In this paper, we explore the structural
characteristics of point cloud in pipeline plants and define a structure feature. Based on the structure feature, we propose a hierarchical
structure detection and decomposition method that reduces the difficult pipeline-plant reconstruction problem in IR3 into a set of simple
circle detection problems in IR2. Experiments with industrial applications are presented, which demonstrate the efficiency of the
proposed structure detection method.