How to Reduce Ray-Direction Noise

I input a sparse depth map, which is a projection of a LiDAR point cloud. However, the point cloud derived from the dense depth map output by Depthlab contains significant noise along the ray direction. Are there any solutions to mitigate this issue?

<img width="1664" height="1309" alt="Image" src="https://github.com/user-attachments/assets/650d29a2-6f04-4a08-82bd-4a1f25fa140a" />