Point cloud data filtering method and device

The invention relates to the technical field of surveying and mapping, and particularly provides a point cloud data filtering method and device, and the method comprises the steps: obtaining point cloud data, and building a bounding box of the point cloud data; performing space grid division on the bounding box, and obtaining a k-d tree structure corresponding to the point cloud data of each layer of grid in the space grid; performing coarse filtering on the point cloud data of each layer of grid in the space grid layer by layer from top to bottom based on the k-d tree structure corresponding to the point cloud data of each layer of grid in the space grid; and carrying out refined filtering on the point cloud data in the space grid by adopting a region growing algorithm. According to the technical scheme provided by the invention, abnormal point filtering of the point cloud data is realized, and the problems of incomplete filtering of the sounding abnormal data and low filtering efficiency are effectively sol