Comparative Analysis of Algorithms to Cleanse Soil Micro-Relief Point Clouds

Abstract

Detecting changes in soil micro-relief in farmland helps to understand degradation processes like sheet erosion. Using the high-resolution technique of terrestrial laser scanning (TLS), we generated point clouds of three 2 × 3 m plots on a weekly basis from May to mid-June in 2022 on cultivated farmland in Germany. Three well-known applications for eliminating vegetation points in the generated point cloud were tested: Cloth Simulation Filter (CSF) as a filtering method, three variants of CANUPO as a machine learning method, and ArcGIS PointCNN as a deep learning method, a sub-category of machine learning using deep neural networks. We assessed the methods with hard criteria such as F1 score, balanced accuracy, height differences, and their standard deviations to the reference surface, resulting in data gaps and robustness, and with soft criteria such as time-saving capacity, accessibility, and user knowledge. All algorithms showed a low performance at the initial measurement epoch, increasing with later epochs. While most of the results demonstrate a better performance of ArcGIS PointCNN, this algorithm revealed an exceptionally low performance in plot 1, which is describable by the generalization gap. Although CANUPO variants created the highest amount of data gaps, we recommend that CANUPO include colour values in combination with CSF.