Airborne LiDAR Filtering Method Based on Cloth Simulation

Cloth Simulation Filter (CSF) is an airborne LiDAR (Light Detection and Ranging) ground points filtering algorithm which is based on cloth simulation. It tries to simulate the interactions between the cloth nodes and the corresponding LiDAR points, the locations of the cloth nodes can be determined to generate an approximation of the ground surface <>.

R package that wraps the CSF algorithm for Airborne LiDAR ground filtering based on Cloth Simulation. It is made to work along with the lidR package.

The lidR package in versions <= 1.6.1 does not implements the CSF algorithm yet. Users must write their own code:

LASfile <- system.file("extdata", "Topography.laz", package="lidR")
las <- readLAS(LASfile, select = "xyz")
gnd <- CSF([email protected])
[email protected][, Classification := 0L]
[email protected][gnd, Classification := 2L]
plot(las, color = "Classification")

Example using lidR >= 2.0.0

The lidR package in versions >= 2.0.0 implements the CSF algorithm as one of the available ground segmentation algorithms.

LASfile <- system.file("extdata", "Topography.laz", package="lidR")
las = readLAS(LASfile, select = "xyz")
las <- lasground(las, csf())
plot(las, color = "Classification")


W. Zhang, J. Qi*, P. Wan, H. Wang, D. Xie, X. Wang, and G. Yan, “An Easy-to-Use Airborne LiDAR Data Filtering Method Based on Cloth Simulation,” Remote Sens., vol. 8, no. 6, p. 501, 2016


Reference manual

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1.0.2 by Jean-Romain Roussel, 2 years ago

Browse source code at

Authors: Jean-Romain Roussel [aut, cre, cph] , Jianbo Qi [aut, cph] , Wuming Zhang [cph] , Peng Wan [cph] , Hongtao Wang [cph] , State Key Laboratory of Remote Sensing Science , Institute of Remote Sensing Science and Engineering , Beijing Normal University [cph]

Documentation:   PDF Manual  

Apache License 2.0 license

Imports Rcpp

Suggests testthat

Linking to Rcpp

Suggested by lidR.

See at CRAN