An　omnidirectional　mobile　platform　is　designed　for　building　point　cloud　based　on　an　improved　filtering　algorithm　which　is　employed　to　handle　the　depth　image.　First,　the　mobile　platform　can　move　flexibly　and　the　control　interface　is　convenient　to　control.　Then,　because　the　traditional　bilateral　filtering　algorithm　is　time-consuming　and　inefficient,　a　novel　method　is　proposed　which　called　local　bilateral　filtering　(LBF).　LBF　is　applied　to　process　depth　image　obtained　by　the　Kinect　sensor.　The　results　show　that　the　effect　of　removing　noise　is　improved　comparing　with　the　bilateral　filtering.　In　the　condition　of　off-line,　the　color　images　and　processed　images　are　used　to　build　point　clouds.　Finally,　experimental　results　demonstrate　that　our　method　improves　the　speed　of　processing　time　of　depth　image　and　the　effect　of　point　cloud　which　has　been　built.