Searching for clusters of points with the same properties in a point cloud

Hi !

I would like to do a pointcloud analysis. In my pointcloud I have mapped the environment of the corridor in the building. There are objects on the map that I would like to remove from. How can I identify and delete these objects in a pointcloude? and how do I create a criterion to identify these objects? So far, I've used data segmentation. the picture shows yellow objects that I want to identify and remove. see attached

[labels,numClusters] = pcsegdist(ptCloud,minDistance)% segmentacia bodov

pcshow(ptCloud.Location,labels)