A Denoising Method for LiDAR Full-Waveform Data

Abstract EN

Decomposition of LiDAR full-waveform data can not only enhance the density and positioning accuracy of a point cloud, but also provide other useful parameters, such as pulse width, peak amplitude, and peak position which are important information for subsequent processing.

Full-waveform data usually contain some random noises.

Traditional filtering algorithms always cause distortion in the waveform.

λ/μ filtering algorithm is based on Mean Shift method.

It can smooth the signal iteratively and will not cause any distortion in the waveform.

In this paper, an improved λ/μ filtering algorithm is proposed, and several experiments on both simulated waveform data and real waveform data are implemented to prove the effectiveness of the proposed algorithm.