1. A method comprising: receiving voxel data for each of a plurality of voxels, each voxel associated with a unique volume of space associated with a geographic area, the voxel data for each respective voxel comprising one or more values based on one or more reflections from one or more light pulses from a light detection and ranging (LIDAR) system; identifying noise values from among the one or more values for each respective voxel; determining a baseline threshold comprising a static value that is uniform for each of the plurality of voxels; determining a dynamic threshold that varies between the plurality of voxels, the dynamic threshold based on the identified noise values; applying the baseline threshold and the dynamic threshold to the voxel data to generate filtered voxel data; and generating a three-dimensional image based on the filtered voxel data.