Removing noise

Purpose:
  • Remove noise with a statistical method

  • Maintain point integrity

Range Filter

  • Big cluster of extreme Z values

  • Range filter tosses them

Denoising (pipeline)

{
    "pipeline": [
        "./exercises/analysis/denoising/18TWK820985.laz",
        {
            "type": "filters.outlier",
            "method": "statistical",
            "multiplier": 3,
            "mean_k": 8
        },
        {
            "type": "filters.range",
            "limits": "Classification![7:7],Z[-100:3000]"
        },
        {
            "type": "writers.las",
            "compression": "true",
            "minor_version": "2",
            "dataformat_id": "0",
            "filename":"./exercises/analysis/denoising/clean.laz"
        }
    ]
}

Denoising (command)

1
2
pdal pipeline ./exercises/analysis/denoising/denoise.json

Denoising (execution)

_images/denoise-run-command.png

Statistical Outlier Filter

See [Rusu2008] for more information.

Rusu2008

Rusu, Radu Bogdan, et al. “Towards 3D point cloud based object maps for household environments.” Robotics and Autonomous Systems 56.11 (2008): 927-941.

Denoising (verify)

_images/denoise-plasio.png