The outlier filter provides two outlier filtering methods: radius and statistical. These two approaches are discussed in further detail below.

It is worth noting that both filtering methods simply apply a classification value of 7 to the noise points (per the LAS specification). To remove the noise points altogether, users can add a range filter to their pipeline, downstream from the outlier filter.

Default Embedded Stage

This stage is enabled by default


Statistical Method

The default method for identifying outlier points is the statistical outlier method. This method requires two passes through the input PointView, first to compute a threshold value based on global statistics, and second to identify outliers using the computed threshold.

In the first pass, for each point \(p_i\) in the input PointView, compute the mean distance \(\mu_i\) to each of the \(k\) nearest neighbors (where \(k\) is configurable and specified by mean_k). Then,

\[\overline{\mu} = \frac{1}{N} \sum_{i=1}^N \mu_i\]
\[\sigma = \sqrt{\frac{1}{N-1} \sum_{i=1}^N (\mu_i - \overline{\mu})^2}\]

A global mean \(\overline{\mu}\) of these mean distances is then computed along with the standard deviation \(\sigma\). From this, the threshold is computed as

\[t = \mu + m\sigma\]

where \(m\) is a user-defined multiplier specified by multiplier.

We now interate over the pre-computed mean distances \(\mu_i\) and compare to computed threshold value. If \(\mu_i\) is greater than the threshold, it is marked as an outlier.

\[\begin{split}outlier_i = \begin{cases} \text{true,} \phantom{false,} \text{if } \mu_i >= t \\ \text{false,} \phantom{true,} \text{otherwise} \\ \end{cases}\end{split}\]
Points before outlier removal

Before outlier removal, noise points can be found both above and below the scene.

Points after outlier removal

After outlier removal, the noise points are removed.

See [Rusu2008] for more information.


In this example, points are marked as outliers if the average distance to each of the 12 nearest neighbors is below the computed threshold.


Radius Method

For each point \(p_i\) in the input PointView, this method counts the number of neighboring points \(k_i\) within radius \(r\) (specified by radius). If \(k_i<k_{min}\), where \(k_{min}\) is the minimum number of neighbors specified by min_k, it is marked as an outlier.

\[\begin{split}outlier_i = \begin{cases} \text{true,} \phantom{false,} \text{if } k_i < k_{min} \\ \text{false,} \phantom{true,} \text{otherwise} \\ \end{cases}\end{split}\]


The following example will mark points as outliers when there are fewer than four neighbors within a radius of 1.0.



The classification value to apply to outliers. [Default: 7]
The outlier removal method (either “statistical” or “radius”). [Default: “statistical”]
Minimum number of neighbors in radius (radius method only). [Default: 2]
Radius (radius method only). [Default: 1.0]
Mean number of neighbors (statistical method only). [Default: 8]
Standard deviation threshold (statistical method only). [Default: 2.0]