Abstract:This paper proposes a new filtering method for LiDAR Data. The proposed approach constructs the connectivity of a grid over the LiDAR point-cloud in order to perform multi-scale data decomposition. This is realized by forming a top-hat scale-space using differential morphological profiles (DMPs) on points’ residuals from the approximated surface. The International Society for Photogrammetry and Remote Sensing (ISPRS) reference dataset is used to test the method. The experimental results show that the proposed method can effectively remove non-ground points, keep the ground points, and is effective at minimizing total error rates.