Abstract: In order to improve the plane fitting precision of point cloud data, the intensity weighted total least square method was proposed. The method, based on the ordinary weighted total least square method, determined the weight value of plant fitting using the intensity information of each point in point cloud data. The application of the method was analyzed with three different homogenous data. Experimental results show that the method is effective for plane fitting of point clouds with good homogeneity, and more accurate solution can be obtained compared with total least squares method and least squares method. As for plane fitting of inhomogeneous point clouds, the total least squares method is superior to the proposed method.