Filtering of Lidar Point Clouds for Complex Cityscapes

A new filtering algorithm of Lidar point clouds is preseted, which can work well in complex cityscapes. Its main features are filtering based on raw Lidar point clouds without previous triangulation or rasterization, and only dependeds on 3D topological relations between points. Experiment results show that the algorithm can preserve discontinuous features in the bare earth and has no impact of size and shape of buildings.