Removing unwanted noise from Lidar Point Cloud

This sample project (https://developer.apple.com/documentation/arkit/environmental_analysis/displaying_a_point_cloud_using_scene_depth) demonstrates 3 distinct features that can result in a smoother result:

1. Filter based on the confidence level using the confidenceMap

2. Request and use smoothedSceneDepth instead of sceneDepth

3. Use a guided filter to upsample the depth map based on the rgb data.

I recommend that you download that sample project, and experiment with various confidence levels, smoothedSceneDepth vs. sceneDepth, and guided filter usage to see if you can arrive at a result that you find acceptable.