空載光達是一種大規模數值地形量測技術，具有快速及大量地獲取三維地表資料的優勢，近年來已經逐漸發展成為製作數值地表模型的主要工具之一。在以空載光達資料產製數值地形模型的資料處理上，目前面對的主要問題是將光達資料中屬於植被和房屋等非地表點濾除。本文嘗試以穩健線性預估法進行光達資料的濾除工作，研究不同權函數與協變方函數對於濾除雜訊之影響。

　　本文以連續波式與脈衝式的空載光達點雲為實驗資料，以建物和不同地形起伏的森林作為實驗區。實驗結果顯示，經穩健線性預估法處理後，平坦森林地高程的精度為±0.24m，地形起伏山區森林地也可達±0.31m。對於建物的資料濾除，穩健線性預估法也是有效的。

　　最後，本文提出一個經驗協變方函數以省略協變方函數的估計工作。初步結果顯示:應用此經驗協變方函數對於森林地區，和以實際資料推估所得協變方函數計算成果的精度相當。此經驗公式可以節省估計協變方函數的處理步驟，從而節省計算時間。對於需處理大量光達資料的工作而言應有相當大的裨益。

　　The Airborne light detection and ranging (Lidar) is a new technology to capture 3-D topographic data rapidly. It has become one of the primary tools for generating Digital Terrain Model (DTM) recently. While processing of Airborne LIDAR data, the main challenge is to remove non-ground points. This paper focuses on the filtering of Airborne Lidar data using robust linear prediction. In the paper, the influences of different weight functions and of covaricnce functions for filtering noise are discussed in detailed.

　　The experiment areas of the paper are the building area and the forest area with continuous-wave and pulse Lidar point cloud data. The result shows that the height accuracy may reach to ±0.24m in the smooth forest, ±0.31m in the steep forest. Our result also shows that the robust linear prediction method used is valid in the building areas.

　　Finally, an empirical covariance function is presented. Using this empirical covariance function in forest areas, one may obtain a same result as using a covaricnce function estimated from real data. This empirical covariance function helps us to save the processing procedure and the computational time. For such huge amount of Lidar dataset, it should be of great benefit.

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