Point cloud denoising algorithm on account of domain point space

3D laser scanning improves the convenience of point cloud data acquisition. However, owing to the impact on multiple environmental factors during the scanning process, The targeted point cloud data contains numerous noise points, which will directly effect the subsequent segmentation and three-dimensional reconstruction of the point cloud data, and thus need to be denoised. Usual denoising ways cover the average filtering method, straight pass filtering method, and so on. In this paper, by studying the Spatial position between the point cloud and its domain points in space, A denoising algorithm for point clouds is proposed based on the spatial distribution of domain points, which can effectively remove the noise while retaining the point cloud body well.