中文摘要：

为提高点云数据质量，对点云强度进行滤波的同时保持边缘和细节特征，针对地面激光扫描点云的数据特点，研究建立了点云强度三维扩散滤波方程。深入分析扩散尺度在扩散滤波中的作用，利用信噪比作为滤波质量的定量评价方法，通过统计试验和对比试验，证明本文方法在点云强度滤波中具有较好效果。

英文摘要：

In order to improve the quality of point cloud, and to realize intensity filtering while preserving edges and details, a three dimensional diffusion equation of point cloud intensity aiming at the data characteristics of terrestrial laser scanning is developed. The effect of diffusion scale in filtering is deeply analyzed. The signal to noiseratio（SNR） is taken as quantitative evaluation method for filtering quality. Through the statistics of test and comparative test, the diffusion equation proposed in this paper shows good results.