Noisy pixels(Black) on the edges

[anilsripadarao]

Sometimes we are getting noisy pixels at the edge of objects, is there any way to remove/invalidate these pixels?
For ex: Please have a look at the attached images:
Camera is located at 0.5ft above the ground level.
Few pixels near the edges of the table shows wrong values (~250 mm).
These pixels result in random objects/points close to the sensor in the point cloud.