Real-time ground filtering algorithm of cloud points acquired using Terrestrial Laser Scanner (TLS)

3D modeling based on point clouds requires ground-filtering algorithms that separate ground from non-ground objects. This study presents two filtering algorithms. The first one is normal vectors. It has variants depending the procedure to compute k-nearest neighbors. second algorithm transforming cloud points into a voxel structure. To evaluate them, are compared according their execution time, effectiveness and efficiency. Results show structure faster in terms of effectiveness, efficiency than vector filtering.