Fig. 1. Network structure diagram

Fig. 2. Network structure of first layer

Fig. 3. Network structure of second layer

Fig. 4. Point cloud model diagrams used in experiment. (a) Bunny; (b) Dragon; (c) Drill; (d) front view of terracotta model; (e) side view of terracotta model; (f) top view of terracotta model

Fig. 5. Clean point cloud data. (a) Bunny; (b) Dragon; (c) Drill

Fig. 6. Cloud data with noise to be removed. (a) Bunny; (b) Dragon; (c) Drill

Fig. 7. Denoising results of algorithm in reference [15]. (a) Bunny; (b) Dragon; (c) Drill

Fig. 8. Denoising results of algorithm in reference [19]. (a) Bunny; (b) Dragon; (c) Drill

Fig. 9. Denoising results of algorithm in reference [17]. (a) Bunny; (b) Dragon; (c) Drill

Fig. 10. Denoising results of algorithm in reference [1]. (a) Bunny; (b) Dragon; (c) Drill

Fig. 11. Denoising results of proposed algorithm. (a) Bunny; (b) Dragon; (c) Drill

Fig. 12. Comparison of fingers before and after denoising. (a) Fingers to be denoised; (b) finger denoising result

Fig. 13. Comparison of head before and after denoising. (a) Head to be denoised; (b) head denoising result

Fig. 14. Comparison of upper body before and after denoising. (a) Upper body to be denoised;(b) upper body denoising result

Fig. 15. Comparison of neckline before and after denoising. (a) Neckline to be denoised; (b) neckline denoising result

Fig. 16. Comparison of hands before and after denoising. (a) Hands to be denoised; (b) hands denoising result

Fig. 17. Comparison of head before and after denoising. (a) Head to be denoised; (b) head denoising result

Fig. 18. Comparison of upper body before and after denoising. (a) Upper body to be denoised; (b) local part of upper body to be denoised; (c) upper body denoising result; (d) local part of upper body denoising result

Fig. 19. Comparison of feet before and after denoising. (a) Feet to be denoised; (b) local part of feet to be denoised; (c) feet denoising result; (d) local part of feet denoising result