“…As a new equipment of active three-dimensional spatial information acquisition sensor, LiDAR determines the distance information between the laser source and the target by detecting light pulses or modulated pulses [5], which has the advantages of high efficiency and accuracy. And it has been widely applied in the surveying and mapping fields such as stockpiling measurement, hydrological modeling, and forest investigation [6].Due to the complexity of spatial environment, noise is inevitably introduced into the twin point cloud. Isolated points, without any connection, is the typical noise in twin point cloud, which were caused by the occlusion of non-target objects.…”