As I was recently asked by some students here at Lund university to provide them with some "alternative" solution (compared to the ArcGIS-based workflow) to import LIDAR data in GIS, I ran into this software package named Fusion (http://forsys.cfr.washington.edu/fusion/fusionlatest.html). It has been developed by a branch of the US Forest Service to manage and analyze LIDAR data. Basically, by using Fusion, users are enabled to convert .las binary data format into a .txt file. Then, the data can be imported in QGIS and filtered based on the classification codes associated to the file itself. Here you can find a short video-tutorial which can help you in understanding the whole data-processing workflow (p.s. please ignore the MS Windows background! :-) ).
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