This paper shows that the use of prior probabilities of the involved classes improve the accuracy of classification in case of poor separability between classes. Three cases of experiments are designed with two LiDAR datasets while considering three different classes (building, tree, and flat grass area). Moreover, random sampling method with human interpretation is used to achieve the approximate prior probabilities in this research. Based on the experimental results, Bayesian classification with the appropriate prior probability makes the improved classification results comparing with the case of non-prior probability when the ratio of prior probability of one class to that of the other is significantly different to 1.0.