Abstract: Objective On the basis of the analysis of vehicle-borne laser point cloud features,aground filteringmethod based on the adaptive mathematical morphology is proposed.A three-dimensional virtual gridis used to organize data.In the morphological iterative process,the filtering window is optimized byannular structure and the morphological opening operation is controlled by a local adaptive slopethreshold.After having obtained the initial low point,the ground point cloud data is extracted basedon neighborhood slope.Finally,experiments are processed using two different regions in the pointcloud data validiting the algorithm.