Integrating Elevation Frequency Histogram and Multi-Feature Gaussian Mixture Model for Ground Filtering of UAV LiDAR Point Clouds in Densely Vegetated Areas

Unmanned aerial vehicle (UAV)-based light detection and ranging (LiDAR) technology enables the acquisition of high-precision three-dimensional point clouds of the Earth’s surface. These data serve as a fundamental input for applications such as digital terrain model (DTM) construction and terrain analysis. Nevertheless, accurately extracting ground points in densely vegetated areas remains challenging. This study proposes a point cloud filtering method for the separation of ground points by integrating elevation frequency histograms and a multi-feature Gaussian mixture model (GMM). Firstly, local elevation frequency histograms are employed to estimate the elevation range for the coarse identification of ground points. Then, GMM is applied to refine the ground segmentation by integrating geometric features, intensity, and spectral information represented by the green leaf index (GLI). Finally, Mahalanobis distance is introduced to optimize the segmentation result, thereby improving the overall stability and robustness of the method in complex terrain and vegetated environments. The proposed method was validated on three study areas with different vegetation cover and terrain conditions, achieving an average OA of 94.14%, IoUg of 88.45%, IoUng of 88.35%, and F1-score of 93.85%. Compared to existing ground filtering algorithms (e.g., CSF, SBF, and PMF), the proposed method performs well in all study areas, highlighting its robustness and effectiveness in complex environments, especially in areas densely covered by low vegetation.