LAUSR

Many filtering algorithms have been developed to extract the digital terrain model (DTM) from dense urban light detection and ranging data or the high-resolution digital surface model (DSM), assuming a smooth variation of topographic relief. However, this assumption breaks for a middle-resolution DSM because of the diminished distinction between steep terrains and nonground points. This letter introduces a two-step semiglobal filtering (TSGF) workflow to separate those two components. The first SGF step uses the digital elevation model of the Shuttle Radar Topography Mission to obtain a flat-terrain mask for the input DSM; then, a segmentation-constrained SGF is used to remove the nonground points within the flat-terrain mask while maintaining the shape of the terrain. Experiments are conducted using DSMs generated from Chinese ZY3 satellite imageries, verified the effectiveness of the proposed method. Compared with the conventional progressive morphological filter method, the usage of flat-terrain mask reduced the average root-mean-square error of DTM from 9.76 to 4.03 m, which is further reduced to 2.42 m by the proposed TSGF method.