“…Outlier points are filtered by the radius contour line outlier removal filter [24]. There are discrete points around the collected point cloud, also called outliers, in addition, StatisticalOutlierRemoval filtering ( SORF) method [25], which uses statistical methods to remove outliers. The maximum radius of the set retrieval is 5 mm, and the number of points is less than 10 will be judged as cluster points.…”