Application of median filter in point cloud data pre-processing lidar

Based on the method of filter used to eliminate noise from gray image according to its gray value,median filter was proposed to remove noise from the point cloud data obtained by a 3-D lidar measuring system.A lidar can be used to collect point cloud data from the surface of an object.The quantity of the point cloud data is huge with noise,which is always harmful to surface reconstruction if it is not removed.Based on the character of the point cloud data,an improved algorithm for 2-D median filter and method for segregating noise from point cloud were mainly emphasized.The speed and effect of the process are improved significantly, which demonstrates that median filter can be used to deal with the lidar data.