A Denoising Method for LiDAR Full-Waveform Data

Figure 4

Results of denoising by different algorithms when the size of processing window is 5 (the black point is simulated waveform, the red curve is denoised waveform, and the blue curve is the ideal nonnoise waveform).

(a) Wavelet denoising

(b) Mean filtering

(c) Gaussian filtering

(d) Traditional algorithm filtering

(e) Improved algorithm filtering