The baggage number needs to be checked automatically during baggage self-check-in. A fast airline baggage counting method is proposed in this paper using image segmentation based on height map which is projected by scanned baggage 3D point cloud. There is height drop in actual edge of baggage so that it can be detected by the edge detection operator. And then closed edge chains are formed from edge lines that is linked by morphological processing. Finally, the number of connected regions segmented by closed chains is taken as the baggage number. Multi-bag experiment that is performed on the condition of different placement modes proves the validity of the method.