Lately, affordable unmanned aerial vehicle (UAV)-lidar systems have started to appear on the market, highlighting the need for methods facilitating proper verification of their accuracy. However, the dense point cloud produced by such systems makes the identification of individual points that could be used as reference points difficult. In this paper, we propose such a method utilizing accurately georeferenced targets covered with high-reflectivity foil, which can be easily extracted from the cloud; their centers can be determined and used for the calculation of the systematic shift of the lidar point cloud. Subsequently, the lidar point cloud is cleaned of such systematic shift and compared with a dense SfM point cloud, thus yielding the residual accuracy. We successfully applied this method to the evaluation of an affordable DJI ZENMUSE L1 scanner mounted on the UAV DJI Matrice 300 and found that the accuracies of this system (3.5 cm in all directions after removal of the global georeferencing error) are better than manufacturer-declared values (10/5 cm horizontal/vertical). However, evaluation of the color information revealed a relatively high (approx. 0.2 m) systematic shift.

With the ever-increasing popularity of unmanned aerial vehicles and other platforms providing dense point clouds, filters for the identification of ground points in such dense clouds are needed. Many filters have been proposed and are widely used, usually based on the determination of an original surface approximation and subsequent identification of points within a predefined distance from such surface. We presented a new filter, the multidirectional shift rasterization (MDSR) algorithm, which is based on a different principle, i.e., on the identification of just the lowest points in individual grid cells, shifting the grid along both the planar axis and subsequent tilting of the entire grid. The principle was presented in detail and both visually and numerically compared with other commonly used ground filters (PMF, SMRF, CSF, and ATIN) on three sites with different ruggedness and vegetation density. Visually, the MDSR filter showed the smoothest and thinnest ground profiles, with the ATIN the only filter comparably performing. The same was confirmed when comparing the ground filtered by other filters with the MDSR-based surface. The goodness of fit with the original cloud is demonstrated by the root mean square deviations (RMSDs) of the points from the original cloud found below the MDSR-generated surface (ranging, depending on the site, between 0.6 and 2.5 cm). In conclusion, this paper introduced a newly developed MDSR filter that outstandingly performed at all sites, identifying the ground points with great accuracy while filtering out the maximum of vegetation and above-ground points and outperforming the aforementioned widely used filters. The filter dilutes the cloud somewhat; in such dense point clouds, however, this can be perceived as a benefit rather than as a disadvantage.

The classification of point clouds is an important research topic due to the increasing speed, accuracy, and detail of their acquisition. Classification using only color is basically absent in the literature; the few available papers provide only algorithms with limited usefulness (transformation of three-dimensional color information to a one-dimensional one, such as intensity or vegetation indices). Here, we proposed two methods for classifying point clouds in RGB space (without using spatial information) and evaluated the classification success since it allows a computationally undemanding classification potentially applicable to a wide range of scenes. The first is based on Gaussian mixture modeling, modified to exploit specific properties of the RGB space (a finite number of integer combinations, with these combinations repeated in the same class) to automatically determine the number of spatial normal distributions needed to describe a class (mGMM). The other method is based on a deep neural network (DNN), for which different configurations (number of hidden layers and number of neurons in the layers) and different numbers of training subsets were tested. Real measured data from three sites with different numbers of classified classes and different “complexity” of classification in terms of color distinctiveness were used for testing. Classification success rates averaged 99.0% (accuracy) and 96.2% (balanced accuracy) for the mGMM method and averaged 97.3% and 96.7% (balanced accuracy) for the DNN method in terms of the best parameter combinations identified.

With the ever-increasing popularity of unmanned aerial vehicles and other platforms providing dense point clouds, universal filters for accurate identification of ground points in such dense clouds are needed. Many filters have been proposed and are widely used, usually based on the determination of an original surface approximation and subsequent identification of points within a predefined distance from such surface. In this paper, we present a new filter. This Multi-view and shift rasterization algorithm (MVSR) is based on an entirely different principle, i.e., on the identification of just the lowest points in individual grid cells, shifting the grid along both planar axis and subsequent tilting of the entire grid – after each of these steps, one lowest point per cell is detected. The principle is presented in detail and compared both visually and numerically to other commonly used ground filters (PMF, SMRF, CSF, ATIN) on three sites with different ruggedness and vegetation density. Visually, the MVSR filter showed the smoothest and thinnest ground profiles, with ATIN the only filter performing comparably (although the profiles were somewhat thicker and not as complete as MVSR-acquired ground). The same was confirmed when comparing ground filtered by other filters with the MVSR-based surface. The goodness of fit with the original cloud is demonstrated by the root mean square deviations (RMSD) of the points from the original cloud found below the MVSR-generated surface (ranging, depending on site, between 0.6-2.5 cm). ATIN again performed closest to MVSR, with RMSDs of ground filtered points found above MVSR-based surface at individual sites ranging between 4.5-7.4 cm. The remaining filters performed comparable in the simplest flat area but poorly in rugged and much-vegetated sites, with RMSDs above the MVSR surface ranging at such sites from 21 to 95 cm. In conclusion, the novel filter presented in this paper performed outstandingly at all sites, identifying the ground points with great accuracy while filtering out the maximum of vegetation/above-ground points. The filter dilutes the cloud somewhat; in such dense point clouds, however, this can be perceived rather as a benefit than as a disadvantage.

With the ever-increasing popularity of unmanned aerial vehicles and other platforms providing dense point clouds, filters for identification of ground points in such dense clouds are needed. Many filters have been proposed and are widely used, usually based on the determination of an original surface approximation and subsequent identification of points within a predefined dis-tance from such surface. We present a new filter, Multi-view and shift rasterization algorithm (MVSR) is based on a different principle, i.e., on the identification of just the lowest points in in-dividual grid cells, shifting the grid along both planar axis and subsequent tilting of the entire grid. The principle is presented in detail and compared both visually and numerically to other commonly used ground filters (PMF, SMRF, CSF, ATIN) on three sites with different ruggedness and vegetation density. Visually, the MVSR filter showed the smoothest and thinnest ground profiles, with ATIN the only filter performing comparably. The same was confirmed when comparing ground filtered by other filters with the MVSR-based surface. The goodness of fit with the original cloud is demonstrated by the root mean square deviations (RMSD) of the points from the original cloud found below the MVSR-generated surface (ranging, depending on site, between 0.6-2.5 cm). The MVSR filter performed outstandingly at all sites, identifying the ground points with great accuracy while filtering out the maximum of vegetation/above-ground points. The filter dilutes the cloud somewhat; in such dense point clouds, however, this can be perceived rather as a benefit than as a disadvantage.