With the advantages of high resolution and accuracy, airborne laser scanning data are widely used in topographic
mapping. In order to generate a DTM, measurements from object features such as buildings, vehicles and vegetation
have to be classified and removed. However, the automatic extraction of bare earth from point clouds acquired by
airborne laser scanning equipment remains a problem in LIDAR data filtering nowadays. In this paper, a filter
algorithm based on wavelet analysis is proposed. Relying on the capability of detecting discontinuities of continuous
wavelet transform and the feature of multi-resolution analysis, the object points can be removed, while ground data are
preserved. In order to evaluate the performance of this approach, we applied it to the data set used in the ISPRS filter
test in 2003. 15 samples have been tested by the proposed approach. Results showed that it filtered most of the
objects like vegetation and buildings, and extracted a well defined ground model.
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