Various algorithms and methods, related to preprocessing of LiDAR data, are being developed and proposed. These methods are two ways, one of them is to use the regular form such as DSM or the image converted from raw LiDAR data, and the other is to use raw LiDAR data directly. The image processing method is one of representative method for the regular grid form data. This method is easy to apply to a numerical analysis technique and has an advantage of modeling and noise elimination through smoothing, but it lose the information during the data conversion. This study apply the image processing method to the irregular raw LiDAR data directly for the extracting ground information with minimized information loss and evaluate the extracting accuracy of ground information.