Observation Selection, Total Variation, and L-Curve Methods for LiDAR Data Denoising

Algorithm 4

The Denoising Method used by Baranov et al.

Input: LiDAR observations and their SNR values for and
(1)	Set (for each azimuth angle)
(2)	for to (along each range) do
(3)	If , then
(4)	end for
(5)
(6)
(7)	for to do
(8)
(9)	end for
(10)
(11)
(12)	Set and Goto Step 2