Photon cloud data filtering is crucial when obtaining forest vertical structure parameters from photon-counting LiDAR data. The proposed method, for the first time, takes into account the influence of the density difference between canopy photons and ground photons. A moving overlapping window approach is introduced to reduce the impact of an uneven background noise environment first. In each window, a modified elevation histogram statistics vector in the elevation direction is proposed to increase the density difference between signal and noise photons while also reducing the density differen...
