Performance Comparison of Filtering Algorithms for High-Density Airborne LiDAR Point Clouds over Complex LandScapes

Airborne light detection and ranging (LiDAR) technology has become the mainstream data source in geosciences and environmental sciences. Point cloud filtering is a prerequisite for almost all LiDAR-based applications. However, it is challenging to select a suitable filtering algorithm for handling high-density point clouds over complex landscapes. Therefore, to determine an appropriate filter on a specific environment, this paper comparatively assessed the performance of five representative filtering algorithms on six study sites with different terrain characteristics, where three plots are located in urban areas and three in forest areas. The representative filtering methods include simple morphological filter (SMRF), multiresolution hierarchical filter (MHF), slope-based filter (SBF), progressive TIN densification (PTD) and segmentation-based filter (SegBF). Results demonstrate that SMRF performs the best in urban areas, and compared to MHF, SBF, PTD and SegBF, the total error of SMRF is reduced by 1.38%, 48.21%, 48.25% and 31.03%, respectively. MHF outperforms the others in forest areas, and compared to SMRF, SBF, PTD and SegBF, the total error of MHF is reduced by 1.98%, 35.87%, 45.11% and 9.42%, respectively. Moreover, both SMRF and MHF keep a good balance between type I and II errors, which makes the produced DEMs much similar to the references. Overall, SMRF and MHF are recommended for urban and forest areas, respectively, and MHF averagely performs slightly better than SMRF on all areas with respect to kappa coefficient