Improved Local Distance Statistic-Based Denoising Algorithm for Single-Photon Point Cloud Data

Yayun Liu; Gongwei Li; Huajie Ren; Jingmei Li; Dong Chen; Xuyuan Zhang; Fang Huang; Lingling Ma; Ning Wang

doi:10.3788/LOP241727

Laser & Optoelectronics Progress, Volume. 62, Issue 6, 0615006(2025)

Improved Local Distance Statistic-Based Denoising Algorithm for Single-Photon Point Cloud Data

Yayun Liu^1,2、*, Gongwei Li¹, Huajie Ren³, Jingmei Li⁴, Dong Chen⁵, Xuyuan Zhang¹, Fang Huang⁶, Lingling Ma¹, and Ning Wang¹

Author Affiliations

¹National Engineering Laboratory for Satellite Remote Sensing Applications, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, China

²University of Chinese Academy of Sciences, Beijing 100049, China

³The Third Representative Office in Shenyang of PLA Naval Equipment Department, Shenyang 110045, Liaoning , China

⁴China Centre for Resources Satellite Data and Application, Beijing 100094, China

⁵School of Land Science and Technology, China University of Geosciences (Beijing), Beijing 100083, China

⁶School of Resources and Environment, University of Electronic Science and Technology of China, Chengdu 611731, Sichuan , China

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Figures & Tables(16)

Fig. 1. Data distribution in study area. (a) Study area A; (b) study area B; (c) study area C; (d) study area D

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Fig. 2. Original point cloud. (a) Data 1; (b) data 2; (c) data 3; (d) data 4

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Fig. 3. Flow chart of algorithm

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Fig. 4. Local distance distribution histogram

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Fig. 5. Results of coarse denoising. (a) Data 1; (b) data 2; (c) data 3; (d) data 4

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Fig. 6. Results of fine denoising. (a) Data 1; (b) data 2; (c) data 3; (d) data 4

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Fig. 7. Results of near-surface denoising. (a) Data 1; (b) data 2; (c) data 3; (d) data 4

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Fig. 8. Denoising results of data 1. (a) ATL03 method; (b) DBSCAN method; (c) MDBSCAN method; (d) Jiao method; (e) ILDS method

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Fig. 9. Denoising results of data 2. (a) ATL03 method; (b) DBSCAN method; (c) MDBSCAN method; (d) Jiao method; (e) ILDS method

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Fig. 10. Denoising results of data 3. (a) ATL03 method; (b) DBSCAN method; (c) MDBSCAN method; (d) Jiao method; (e) ILDS method

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Fig. 11. Denoising results of data 4. (a) ATL03 method; (b) DBSCAN method; (c) MDBSCAN method; (d) Jiao method; (e) ILDS method

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Table 1. Effect of different k on denoising accuracy with p=0.8
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Table 1. Effect of different k on denoising accuracy with p=0.8
k F₁ /%
Data 1 Data 2 Data 3 Data 4
25 ‒ ‒ ‒ ‒
30 ‒ ‒ ‒ 91.35
35 93.64 ‒ 94.26 91.41
40 93.66 90.70 94.26 91.47
45 93.65 90.72 94.28 91.46
50 93.69 90.82 94.26 91.46
55 93.63 90.81 94.25 ‒
60 93.59 90.73 ‒ ‒

Table 2. Effect of different p on denoising accuracy
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Table 2. Effect of different p on denoising accuracy
p F₁ /%
Data 1 （k=50） Data 2 （k=50） Data 3 （k=45） Data 4 （k=40）
0.6 93.64 90.77 94.23 91.43
0.7 93.69 90.79 94.27 91.47
0.8 93.69 90.82 94.28 91.47
0.9 93.63 90.82 94.27 91.43
1.0 93.63 90.69 94.25 91.41

Table 3. Accuracy evaluation results of algorithm (P)
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Table 3. Accuracy evaluation results of algorithm (P)
Method Data 1 Data 2 Data 3 Data 4 Average
DBSCAN 89.01 88.07 90.77 83.35 87.80
MDBSCAN 89.31 88.61 90.89 84.42 88.31
Jiao 85.84 68.41 90.72 81.82 81.70
ILDS 91.90 89.74 95.18 89.82 91.66

Table 4. Accuracy evaluation results of algorithm(A_o)
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Table 4. Accuracy evaluation results of algorithm(A_o)
Method Data 1 Data 2 Data 3 Data 4 Average
DBSCAN 97.09 97.24 97.14 95.58 96.76
MDBSCAN 97.13 97.10 97.16 95.86 96.81
Jiao 96.40 93.19 97.13 95.14 95.47
ILDS 97.32 97.31 97.45 96.37 97.11

Table 5. Accuracy evaluation results of algorithm(F₁)
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Table 5. Accuracy evaluation results of algorithm(F₁)
Method Data 1 Data 2 Data 3 Data 4 Average
DBSCAN 93.35 90.77 93.86 90.31 92.07
MDBSCAN 93.41 90.17 93.89 90.85 92.08
Jiao 91.95 80.77 93.83 89.46 89.00
ILDS 93.69 90.82 94.28 91.47 92.57

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Yayun Liu, Gongwei Li, Huajie Ren, Jingmei Li, Dong Chen, Xuyuan Zhang, Fang Huang, Lingling Ma, Ning Wang. Improved Local Distance Statistic-Based Denoising Algorithm for Single-Photon Point Cloud Data[J]. Laser & Optoelectronics Progress, 2025, 62(6): 0615006

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