In recent years, considerable interest has emerged in improving urban planning and management, which has led to the need to explore new technologies. In particular, there has been a focus on the use of aerial aircraft for data acquisition in the urban environment. Although it is possible to acquire a large amount of data through these techniques, these are usually collected by LiDAR sensors, a technology widely used in applications using 3D data. The real problem is how to process and interpret them to extract useful knowledge in application contexts, so the use of these data collected by LiDAR sensors has led to the opening of new research scenarios in this field.