Techniques are disclosed for point cloud denoising systems and methods. In one example, a method includes determining a respective local coordinate system for each point of a point cloud. The method further includes determining a respective first adaptive-shape neighborhood for each point of the point cloud based on each respective local coordinate system. The method further includes performing filtering associated with each respective first adaptive-shape neighborhood to obtain a respective second adaptive-shape neighborhood for each point of the point cloud. The method further includes determining local estimates for points inside each of the second adaptive-shape neighborhoods. The method further includes aggregating the local estimates for each point of the point cloud to obtain a denoised point cloud. Related devices and systems are also provided.