  The paper presents the study and implementation of the ground detection
methodology with filtration and removal of forest points from LiDAR-based 3D
point cloud using the Cloth Simulation Filtering (CSF) algorithm. The
methodology allows to recover a terrestrial relief and create a landscape map
of a forestry region. As the proof-of-concept, we provided the outdoor flight
experiment, launching a hexacopter under a mixed forestry region with sharp
ground changes nearby Innopolis city (Russia), which demonstrated the
encouraging results for both ground detection and methodology robustness.
