A VOXEL-BASED FILTERING ALGORITHM FOR MOBILE LIDAR DATA by H. Qin, G. Guan, Y. Yu, L. Zhong

“…In the first step, to improve computational efficiency, mobile LiDAR points, in xy-plane, are first partitioned into a set of two-dimensional (2-D) blocks with a given block size, in each of which all laser points are further organized into an octree partition structure with a set of three-dimensional (3-D) voxels. …”
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