The invention discloses a
point cloud data partitioning method based on hyper voxels. The three-dimensional geometrical relationship and regional
connectivity of
point cloud data are taken into account, the
point cloud data are partitioned by using a clustering method, so that the hyper voxels attached on a target boundary are obtained; the
residual value in planar fit with data of the hyper voxels is calculated, the hyper voxels are sorted and sieved according to the
residual value to obtain effective seed hyper voxels,
region growing is carried out by using a normal distribution
histogram and the difference between a geodesic distance and an
Euclidean distance, and finally partitioning treatment on the point
cloud data is finally realized. The point
cloud data with indoor local scenes are input, and accurate partitioning for the point
cloud data is realized by using the hyper voxels and a
region growing algorithm. Compared with a traditional point cloud partitioning method, under the premise of guaranteeing the partitioning efficiency, the problems of insufficient partitioning and over partitioning caused by
direct treatment of the point cloud data are avoided, a partitioning result with accurate boundary information is obtained, and the partitioning method is healthy for sampling density and
noise of the point cloud data.