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Backpack mobile laser scanners provide rapid data acquisition and allow access to all walkable areas. We aim to remove outliers from the data of a prototype backpack mobile laser scanning system. After removing dark intensity points, our approach mainly uses voxel grids. Firstly, we remove points that only have a few points in the neighborhood. Secondly, we search for outlier clusters with a 3D convolution of voxel grids. Thirdly, outlier clusters located in the air or below the ground are removed with a single elimination bin. As a result, the majority of outliers are successfully removed from backpack mobile laser scanning data.

Filtering the outliers from backpack mobile laser scanning data