Airborne LiDAR Point Cloud Filtering Method Based on Multiconstrained Connected Graph Segmentation

Fig. 8. Point cloud data filtering results. (a) DSM of raw data; (b) true DEM; (c) DEM of the filtering results of the proposed method; (d) error distribution of filtering results of the proposed method

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Fig. 9. Comparison of total errors of the five methods

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Fig. 10. Comparison of mean values of the three kinds of error of the five methods

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Fig. 11. Average total errors of different verticality thresholds

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Fig. 12. Average total errors of different height difference thresholds

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Fig. 13. Average total errors of different distance thresholds

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Table 1. 15 groups of point cloud data and their characteristics

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Table 1. 15 groups of point cloud data and their characteristics

Environment	Site	Sample	Feature
City	1	11	Hillsides， low vegetation， buildings
	1	12	Hillsides， buildings
	2	21	Large buildings， bridges
		22	Irregular structure
		23	Large irregular structure
		24	Steep sides
	3	31	Complex building complex
	4	41	Blank data
	4	42	Train tracks and trains
Country	5	51	Steep sides， low vegetation， blank data
		52
		53
		54
	6	61	Roads， buildings， data gaps
	7	71	Bridges， roads， an underground passage

Table 2. Error matrix
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Table 2. Error matrix
Category Filtering result
Number of ground points Number of object points
Reference result Number of ground points $a$ $b$
Number of object points $c$ $d$

Table 3. Filtering error of 15 experiment data of the proposed method

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Table 3. Filtering error of 15 experiment data of the proposed method

Sample	$T_{1}$ /%	$T_{2}$ /%	$T_{t o t a l}$ /%	$c_{k a p p a}$
Average	5.72	9.29	5.44	0.81
Sample 11	26.74	13.26	21.04	0.58
Sample 12	7.92	1.39	4.76	0.90
Sample 21	2.71	2.94	2.76	0.92
Sample 22	3.21	15.60	7.03	0.83
Sample 23	8.00	4.33	6.27	0.87
Sample 24	6.10	10.06	7.15	0.82
Sample 31	0.37	1.85	1.05	0.98
Sample 41	1.01	4.63	2.75	0.94
Sample 42	11.10	0.43	3.55	0.91
Sample 51	1.33	6.73	2.42	0.92
Sample 52	3.09	17.35	4.41	0.75
Sample 53	6.36	19.34	6.84	0.44
Sample 54	2.46	3.91	3.24	0.94
Sample 61	3.47	7.51	3.57	0.56
Sample 71	1.93	30.03	4.81	0.72

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Zhenyang Hui, Haiying Hu, Na Li, Zhuoxuan Li. Airborne LiDAR Point Cloud Filtering Method Based on Multiconstrained Connected Graph Segmentation[J]. Laser & Optoelectronics Progress, 2022, 59(4): 0428004

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