Filtering the outliers from backpack mobile laser scanning data

Backpack mobile laser scanners provide rapid data acquisition and allow access to all walkable areas. We aim to remove outliers from the data of a prototype backpack mobile laser scanning system. After removing dark intensity points, our approach mainly uses voxel grids. Firstly, we remove points that only have a few points in the neighborhood. Secondly, we search for outlier clusters with a 3D convolution of voxel grids. Thirdly, outlier clusters located in the air or below the ground are removed with a single elimination bin. As a result, the majority of outliers are successfully removed from backpack mobile laser scanning data.