Coarse-to-Fine Denoising for Micro-Pulse Photon-Counting LiDAR Data: A Multi-Stage Adaptive Framework

Micro-pulse photon-counting LiDAR has difficulty accurately extracting geophysical information in strong-noise environments, with solar noise interference being a key limiting factor. This study proposes a hierarchical coarse-to-fine denoising framework, combining grid-based pre-filtering with an optimized horizontal and vertical recursive division method using Otsu’s method to achieve high time efficiency and denoising accuracy. First, an adaptive meshing strategy is employed to remove most of the noise in the data while retaining more than 99.1% of the signal. Subsequently, an alternating horizontal and vertical recursive division algorithm with automatically selected parameters is applied for denoising; the method was validated on ICESat-2 ATL03 data, GlobeLand30 V2020 data, and USGS 3DEP airborne radar data, where the method achieved a classification accuracy of more than 91.2%, with a several-fold reduction in runtime compared to traditional clustering methods. The framework demonstrates high efficiency, robustness, and computational scalability across diverse terrains, including polar, forest, and plains. It can contribute to geographic mapping, environmental protection, and ecological monitoring.