Scanning line-by-scanning ground filtering method and scanning line-by-scanning ground filtering system for disordered ground laser point cloud

The invention is suitable for the technical field of laser scanning, and provides a scanning line-by-scanning line ground filtering method and system for disordered ground laser point clouds, and the method comprises the following steps: carrying out the laser scanning of a detected region, and restoring the scanning angle resolutions in the horizontal and vertical directions through a sampling interval estimation method based on random neighborhood analysis; disordered scanning line reconstruction is carried out by using the characteristics of a point cloud scanning mode and the horizontal angle resolution theta < hori >; analyzing the scanning line density by constructing the relative point density RD to obtain a ground candidate point set; and carrying out refined extraction on the ground candidate point set based on region growth. The ground point filtering method adopted by the invention fully considers the characteristics of ground point data acquired by ground laser, does not need the preparation work