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To obtain object micro traffic information, LiDAR plays an important role in intelligent perception. Many background filtering methods based on LiDAR can detect the target, but the data process is not simple enough and data information will be lost easily. In this work, from the principle of original point cloud data capture, an advanced background filtering algorithm based on PCAP (Packet Capture) file is proposed. Firstly, a data extraction algorithm for PCAP files is designed. Then, one non-target frame is chosen as the background frame. The distance difference method is used to filter the background under the spherical coordinate system with the relative horizontal angle and vertical angle as discrete coordinates. The algorithm is improved twice by reconstructing the background frame based on the hierarchical clustering method and changing the distance difference threshold. Finally, the effectiveness of the three algorithms is verified.
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