The advances of remote sensing techniques allow for the generation of dense point clouds to detect detailed surface changes up to centimeter/millimeter levels. However, there is still a need for an easy method to derive such surface changes based on digital elevation models generated from dense point clouds while taking into consideration spatial varied uncertainty. We present a straightforward method, Las2DoD, to quantify surface change directly from point clouds with spatially varied uncertainty. This method uses a cell-based Welch’s t-test to determine whether each cell of a surface experienced a significant elevation change based on the points measured within the cell. Las2DoD is coded in Python with a simple graphic user interface. It was applied in a case study to quantify hillslope erosion on two plots: one dominated by rill erosion, and the other by sheet erosion, in southeastern United States. The results from the rilled plot indicate that Las2DoD can estimate 90% of the total measured sediment, in comparison to 58% and 70% from two other commonly used methods. The Las2DOD-derived result is less accurate (65%) but still outperforms the other two methods (30% and 48%) for the plot dominated by sheet erosion. Las2DoD captures more low-magnitude changes and is particularly useful where surface changes are small but contribute significantly to the total surface change when summed.

Terrestrial LiDAR (light detection and ranging) has been used to quantify micro-topographic changes using high-density 3D point clouds in which extracting the ground surface is susceptible to off-terrain (OT) points. Various filtering algorithms are available in classifying ground and OT points, but additional research is needed to choose and implement a suitable algorithm for a given surface. This paper assesses the performance of three filtering algorithms in classifying terrestrial LiDAR point clouds: a cloth simulation filter (CSF), a modified slope-based filter (MSBF), and a random forest (RF) classifier, based on a typical use-case in quantifying soil erosion and surface denudation. A hillslope plot was scanned before and after removing vegetation to generate a test dataset of ground and OT points. Each algorithm was then tested against this dataset with various parameters/settings to obtain the highest performance. CSF produced the best classification with a Kappa value of 0.86, but its performance is highly influenced by the ‘time-step’ parameter. MSBF had the highest precision of 0.94 for ground point classification but the highest Kappa value of only 0.62. RF produced balanced classifications with the highest Kappa value of 0.75. This work provides valuable information in optimizing the parameters of the filtering algorithms to improve their performance in detecting micro-topographic changes.