Table 3.

Summary of studies in ground extraction for MLS data.

Study	Methods			Characteristics
	Rasterization	3D-Based	Scanline	Point Density	Elevation Variance	Elevation Jump
Yang, et al. [57]	✓	-	-	-	✓	-
Hernández and Marcotegui [54,55], Serna and Marcotegui [52,56]	✓	-	-	-	-	✓
Wu, et al. [63]	✓	-	✓	-	✓	-
Ibrahim and Lichti [61]	-	✓	-	✓	-	-
Husain and Vaishya [58], Yadav, et al. [59]	-	✓	-	-	✓	-
Lin and Zhang [51]	-	✓	-	-	-	✓
Teo and Yu [62]	-	-	✓	-	-	✓