“…At present, many scholars has carry on the research of laser point cloud filtering and classification method, according to the different mode of scanning, filtering algorithm are divided for airborne laser scanning filtering (ALS) algorithm, mobile laser scanning(MLS) filtering algorithm and terrestrial laser scanning (TLS) filtering algorithm.The filtering algorithm of ALS contains multiresolution hierarchical classification (MHC) algorithm (Chuanfa Chen et al, 2013),Progressive TIN densification (PTD) algorithm (Jixian Zhang and Xiangguo Lin, 2013),intensity and density statistics algorithm( Brian M. Wing et al, 2015),Multi-directional Ground Filtering (MGF) algorithm (Xuelian Meng et al, 2009), Parameter-free ground filtering algorithm(Domen Mongus and Borut Žalik, 2012) and so on; The filtering(classification) algorithm of MLS contains regular voxelization of the space(C. Cabo et al, 2014), combine intensity textures and local geometry (Luca Penasa et al, 2014), shape-based segmentation method(Bisheng Yang and Zhen Dong, 2013) and so on; The filtering(classification) algorithm of TLS contains analysis of the 3D geometric texture methods(Ahlem Othmani et al, 2013;Yi Lin et al, 2016), super-voxels and multi-scale conditional random fields (Ee Hui Lim et al, 2009) and so on. In general, different filtering algorithms are proposed for different sources of laser scanning and obtained good results.…”