Method and device for filtering trailing points of point cloud

The invention discloses a method and device for filtering a trailing point of a point cloud, and relates to the technical field of filtering the trailing point of the point cloud, and the method comprises the steps: S1, obtaining edge information in a three-dimensional space based on a color picture; s2, projecting the edge information into a point cloud, and identifying a to-be-identified point; and S3, according to the information of the auxiliary point, judging whether the to-be-identified point is a trailing point, and deleting the trailing point. According to the method, the to-be-recognized trailing point is marked through the colored edge information, the trailing point is recognized through the vector included angle from the normal and the original point of the point cloud to the to-be-recognized point, interference objects are removed based on semantic information, the calculation amount is reduced, the robustness is improved, the colored semantic information is used for judging and recognizing the t