Transforming vehicle-borne laser point cloud to grid point cloud

Point cloud got by vehicle-borne laser is scattered because of the vehicle's vibration and the fusion of point clouds obtained in different time.The points of the cloud are sorted by x value firstly.Then the points,which are in the same column,are sorted by their z value.A grid is given in XOZ plan(the projective plan),and the grid point's y value is the laser point's y value which is nearest to the grid point in XOZ plan.When the points are sorted by their x value,an algorithm is given on the base of point cloud's characteristic.The experiment result shows that the grid point cloud has the same effect with the scattered point cloud.The grid point cloud can be used to analyze the scattered point cloud.