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Raw full waveforms of green lasers used in airborne LiDAR bathymetry (AL are contaminated by background and random noise related to the environment and ALB devices. Traditional thresholding methods have been widely used to reduce background noise in raw full waveforms on the basis of the assumption of constant background noise. However, background noise that is mainly related to background solar radiation and detector dark current changes over time. Thresholding methods perform poorly on the full waveforms with a wide variation range

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