Object edges dispersion

[kakhmadeev]

Hi! I'm using an RS-Bpearl lidar and my point cloud contains some spurious points. That is, these points appear as extensions of object edges, but they lie behind the actual end of the edge. Mostly, such points appear as dents on the floor surface behind the edge. Below are illustrations that I made using rviz.

On both images, the frame of the lidar is shown with the rgb arrows. On the 1st image, marked in green, you may see the dents on the floor. These appear right at edges of the two large objects on the left and right of the robot, while in reality the floor there is flat. The second picture presents a different view of the same setup.

My assumption is that these points are a result of some smoothing along the azimuth within a single ray.
I would appreciate any guiding into how to avoid such measurements or how to filter them out effectively.
Thank you