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Some, at least minor, filtering is encouraged before throwing depth feeds into your costmaps for this kind of non-trivial noise around the surfaces of physical objects.

Without more information, I can't give you precise recommendations, but generally speaking PCL has a number of useful filters that when combined (or just 1 individually) can remove that kind of noise. The compute available, degree at which you want to remove noise, and the amount of data you want to decimate are all parts of the equation.

I haven't looked at literature recently on this subject, but it wouldn't surprise me if there were some techniques that might aid you as well using kernal filters.