[1] [1] DIGNE J, FRANCHIS C D. The bilateral filter for point clouds[J]. Image Processing on Line, 2017, 7: 278-287.

[2] [2] CARRILHO A C, GALO M, SANTOS R C. Statistical outlier detection method for airborne lidar data[C]//The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. New York, USA: International Society for Photogrammetry and Remote Sensing, 2018: 87-92.

[3] [3] CHARRON N, PHILLIPS S, WASLANDER S L. De-noising of lidar point clouds corrupted by snowfall[C]//15th Conference on Computer and Robot Vision. New York, USA: IEEE Press, 2018: 254-261.

[4] [4] JIN Y X, YUAN X T, WANG Zh,et al. Filtering processing of LiDAR point cloud data[C]//5th IOP Conference Series: Earth and Environmental Science. New York, USA: IEEE Press, 2021: 012125.

[7] [7] WEN G Q, ZHANG H X, GUAN Zh W,et al. Bilateral filter denoising of LiDAR point cloud data in automatic driving scene[J]. Infrared Physics & Technology, 2023, 131: 104724.

[11] [11] MATTEI E, CASTRODAD A. Point cloud denoising via moving RPCA[J]. Computer Graphics Forum, 2017, 36(8): 123-137.

[12] [12] KIM J W, CHO J H. Delaunay triangulation-based spatial clustering technique for enhanced adjacent boundary detection and segmentation of LiDAR 3D point clouds[J]. Sensors, 2019, 19(18): 3926.

[14] [14] HUANG J P, YAN Q X, YOU H T,et al. Particle swarm optimization-based noise filtering algorithm for photon cloud data in forest area[J]. Remote Sensing, 2019, 11(8): 980.

[15] [15] REN J Q, BAO K, ZHANG G H,et al. LANDMARC indoor positioning algorithm based on density-based spatial clustering of applications with noise-genetic algorithm-radial basis function neural network[J]. International Journal of Distributed Sensor Networks, 2020, 16(2): 1550147720907831.

[16] [16] LI Y Y, WANG J, LI B,et al. An adaptive filtering algorithm of multilevel resolution point cloud[J]. Survey Review, 2021, 53(379): 300-311.

[18] [18] DUAN Y, YANG Ch Ch, LI H B. Low-complexity adaptive radius outlier removal filter based on PCA for lidar point cloud denoising[J]. Applied Optics, 2021, 60(20): E1-E7.

[19] [19] CHENG D Y, ZHAO D J, ZHANG J Ch,et al. PCA-based denoising algorithm for outdoor lidar point cloud data[J]. Sensors, 2021, 21(11): 3703.

[22] [22] MARC L, GREG T. The stanford 3D scanning repository[DB/OL]. (2023-04-25). https://graphics.stanford.edu/data/3Dscanrep/.

[23] [23] ZCAN A H, NSALAN C. LiDAR data filtering and DTM generation using empirical mode decomposition[DB/OL]. (2017-04-29). https://github.com/himmetozcan/EMD_Lidar.