v.in.pdal supports the following filters natively:
2D region filter
Z coordinates filter
return filter
class filter
EXAMPLES
Import only XYZ coordinates of points, limit the import to the current
computational region and reproject to the Location projection during
the import:
V. Petras, A. Petrasova, J. Jeziorska, H. Mitasova (2016):
Processing UAV and lidar point clouds in GRASS GIS.
XXIII ISPRS Congress 2016
[ISPRS Archives,
ResearchGate]
Zhang, Keqi, et al.
A progressive morphological filter for removing nonground
measurements from airborne LIDAR data.
Geoscience and Remote Sensing,
IEEE Transactions on 41.4 (2003): 872-882.