A point cloud data processing method comprising the steps of: (a) calculating a trajectory of an inertial measuring device in a plane rectangular coordinate system as a trajectory of a measuring device based on satellite positioning data and inertial positioning data acquired by the measuring device, the measuring device including a 360-degree camera, a GNSS device for acquiring satellite positioning data, an inertial measuring device for acquiring inertial positioning data, a laser scanner configured to scan the entire circumference to acquire three-dimensional point cloud data, a rotary encoder for acquiring moving distance data of a moving body from a rotation speed and a rotation angle of a wheel of the moving body, and a synchronization control device for synchronizing a time of inertial positioning data acquisition by the inertial measuring device, a time of image data acquisition by the camera, a time of point cloud data acquisition by the laser scanner, and a time of acquisition of moving distance data of the wheel by the rotary encoder, the measuring device installed on a moving body moving along a measurement route; (b) converting the three-dimensional point cloud data relating to the same measurement route into plane rectangular coordinate system data by use of the trajectory calculated in Step (a), to generate primary point cloud data of the entire circumference; (c) on a vertical plane (V i) orthogonal to the trajectory, based on a perpendicular (L i) drawn down to the horizontal plane from an intersection (P i) of the trajectory and the vertical plane (V i), designating an extraction angle range (Θ) as − θ 1 ≤ Θ ≤ θ 2 (wherein θ 1 and θ 2 are extraction angular widths set in advance) around the intersection (P i), and setting an extraction reference distance (l) as a distance in a vertical direction from the intersection (Pi) to designate an extraction distance range from an intersection (P i) with the trajectory as 1 − d 1 ≤ D ≤ 1 + d 2 wherein d 1 and d 2 are extraction widths set in advance, to identify an area defined by the extraction angle range (Θ) and the extraction distance range as a two-dimensional figure, and setting a region obtained by extending the two-dimensional figure along the trajectory as an extraction region; and (d) extracting the primary point cloud data in the extraction region as extracted point cloud data. (a) calculating a trajectory of an inertial measuring device in a plane rectangular coordinate system as a trajectory of a measuring device based on satellite positioning data and inertial positioning data acquired by the measuring device, the measuring device including a 360-degree camera, a GNSS device for acquiring satellite positioning data, an inertial measuring device for acquiring inertial positioning data, a laser scanner configured to scan the entire circumference to acquire three-dimensional point cloud data, a rotary encoder for acquiring moving distance data of a moving body from a rotation speed and a rotation angle of a wheel of the moving body, and a synchronization control device for synchronizing a time of inertial positioning data acquisition by the inertial measuring device, a time of image data acquisition by the camera, a time of point cloud data acquisition by the laser scanner, and a time of acquisition of moving distance data of the wheel by the rotary encoder, the measuring device installed on a moving body moving along a measurement route; (b) converting the three-dimensional point cloud data relating to the same measurement route into plane rectangular coordinate system data by use of the trajectory calculated in Step (a), to generate primary point cloud data of the entire circumference; (c) on a vertical plane (V i) orthogonal to the trajectory, based on a perpendicular (L i) drawn down to the horizontal plane from an intersection (P i) of the trajectory and the vertical plane (V i), designating an extraction angle range (Θ) as − θ 1 ≤ Θ ≤ θ 2 (wherein θ 1 and θ 2 are extraction angular widths set in advance) around the intersection (P i), and setting an extraction reference distance (l) as a distance in a vertical direction from the intersection (Pi) to designate an extraction distance range from an intersection (P i) with the trajectory as 1 − d 1 ≤ D ≤ 1 + d 2 wherein d 1 and d 2 are extraction widths set in advance, to identify an area defined by the extraction angle range (Θ) and the extraction distance range as a two-dimensional figure, and setting a region obtained by extending the two-dimensional figure along the trajectory as an extraction region; and based on a perpendicular (L i) drawn down to the horizontal plane from an intersection (P i) of the trajectory and the vertical plane (V i), designating an extraction angle range (Θ) as − θ 1 ≤ Θ ≤ θ 2 (wherein θ 1 and θ 2 are extraction angular widths set in advance) around the intersection (P i), and setting an extraction reference distance (l) as a distance in a vertical direction from the intersection (Pi) to designate an extraction distance range from an intersection (P i) with the trajectory as 1 − d 1 ≤ D ≤ 1 + d 2 wherein d 1 and d 2 are extraction widths set in advance, to identify an area defined by the extraction angle range (Θ) and the extraction distance range as a two-dimensional figure, and setting a region obtained by extending the two-dimensional figure along the trajectory as an extraction region; and (d) extracting the primary point cloud data in the extraction region as extracted point cloud data.