diff --git a/LidarCore/Filters/Processing/vtkAdaptiveOutlierRemoval.cxx b/LidarCore/Filters/Processing/vtkAdaptiveOutlierRemoval.cxx
index ebf31fc02d361801a3c02f2fea525f751f25d1d5..3258f247039b6c899d7ed5d7643ae43f25457fe9 100644
--- a/LidarCore/Filters/Processing/vtkAdaptiveOutlierRemoval.cxx
+++ b/LidarCore/Filters/Processing/vtkAdaptiveOutlierRemoval.cxx
@@ -18,6 +18,7 @@
 #include "KDTreeVTKAdaptor.h"
 
 // VTK
+#include <vtkCleanPolyData.h>
 #include <vtkIdTypeArray.h>
 #include <vtkInformation.h>
 #include <vtkMath.h>
@@ -98,9 +99,14 @@ void vtkAdaptiveOutlierRemoval::RemoveOutlier(vtkSmartPointer<vtkPolyData> input
     vtkSmartPointer<vtkRemovePolyData>::New();
   removePolyDataFilter->SetInputData(0, inputPointcloud);
   removePolyDataFilter->SetPointIds(pointIdsToRemove);
-  removePolyDataFilter->Update();
 
-  outputPointcloud->ShallowCopy(removePolyDataFilter->GetOutput());
+  // Clean removed points
+  vtkSmartPointer<vtkCleanPolyData> cleanFilter = vtkSmartPointer<vtkCleanPolyData>::New();
+  cleanFilter->SetInputData(removePolyDataFilter->GetOutput());
+  cleanFilter->PointMergingOff();
+  cleanFilter->Update();
+
+  outputPointcloud->ShallowCopy(cleanFilter->GetOutput());
 }
 
 //-----------------------------------------------------------------------------