Point cloud filtering method and system for laser scanner

The invention discloses a point cloud filtering method and system for a laser scanner. The point cloud filtering method comprises the following steps: acquiring to-be-processed point cloud data; a two-dimensional image is generated according to the spherical coordinates of all data points in the point cloud data, the abscissa of each pixel of the two-dimensional image corresponds to the azimuth angle of one data point, the ordinate of each pixel of the two-dimensional image corresponds to the elevation angle of one data point, and the pixel value of each pixel corresponds to the depth value of the data point; for each data point, obtaining the size of a filtering kernel of the data point according to the depth value; for one target data point, searching neighbor data points of the target data point on the two-dimensional image according to the size of the filtering kernel; and acquiring the depth value of the target data point by using the neighbor data point, and updating the coordinate of the target data po