The scan line filtering algorithm can simplify the filtering problem to a certain extent and achieve improved filtering results in complex terrains. However, it is difficult to filter out some noise points under the ground and points with large difference between positive and negative slope angles. To resolve these problems, a vertex vector angle-scan line filtering algorithm is proposed, where the vertex vector angle and height difference threshold are used to perform postprocessing on the scan line, further improving the filtering effect. The traditional algorithm is compared with the improved algorithm through experiments, proving that the latter can achieve improved filtering results.