3D modeling based on point clouds requires ground-filtering algorithms that separate ground from non-ground objects. This study presents two ground filtering algorithms. The first one is based on normal vectors. It has two variants depending on the procedure to compute the k-nearest neighbors. The second algorithm is based on transforming the cloud points into a voxel structure. To evaluate them, the two algorithms are compared according to their execution time, effectiveness and efficiency. Results show that the ground filtering algorithm based on the voxel structure is faster in terms of execution time, effectiveness, and efficiency than the normal vector ground filtering.

基于点云的 3D 建模需要将地面与非地面对象分开的地面过滤算法。本研究提出了两种地面过滤算法。第一个是基于法线向量。它有两种变体，具体取决于计算 k 最近邻的过程。第二种算法基于将浊点转换为体素结构。为了评估它们，根据它们的执行时间、有效性和效率比较这两种算法。结果表明，基于体素结构的地面滤波算法在执行时间、有效性和效率方面比法向量地面滤波更快。