The paper presents the study and implementation of the ground detection methodology with filtration and removal of forest points from LiDAR-based 3D point cloud using the Cloth Simulation Filtering (CSF) algorithm. The methodology allows to recover a terrestrial relief and create a landscape map of a forestry region. As the proof-of-concept, we provided the outdoor flight experiment, launching a hexacopter under a mixed forestry region with sharp ground changes nearby Innopolis city (Russia), which demonstrated the encouraging results for both ground detection and methodology robustness.
@article{arxiv.1903.11097,
title = {Ground Profile Recovery from Aerial 3D LiDAR-based Maps},
author = {Adelya Sabirova and Maksim Rassabin and Roman Fedorenko and Ilya Afanasyev},
journal= {arXiv preprint arXiv:1903.11097},
year = {2024}
}