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This paper addresses the task of separating ground points from airborne LiDARpoint cloud data in urban areas. A novel ground filtering method using scanline segmentation is proposed here, which we call SLSGF. It utilizes the scanline information in LiDAR data to segment the LiDAR data. The similaritymeasurements are designed to make it possible to segment complex roofstructures into a single segment as much as possible so the topologicalrelationships between the roof and the ground are simpler, which will benefitthe labeling process. In the labeling process, the initial ground segments aredetected and a coarse to fine labeling scheme is applied. Data from ISPRS 2011are used to test the accuracy of SLSGF; and our analytical and experimentalresults show that this method is computationally-efficient andnoise-insensitive, thereby making a denoising process unnecessary beforefiltering.

LiDAR Ground Filtering Algorithm for Urban Areas Using Scan Line Based Segmentation