Point cloud registration method and device based on multi-feature fusion and storage medium
A multi-feature fusion and point cloud registration technology, which is applied in image data processing, instruments, character and pattern recognition, etc., can solve problems such as poor robustness, affecting registration accuracy, and inability to fully characterize feature point attributes. The effect of reducing mismatching, improving expressiveness, and improving registration accuracy
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[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0032] Such as figure 1 As shown, a method for point cloud registration based on multi-feature fusion provided by an embodiment of the present invention includes:
[0033] Step S101: extract some source point cloud feature points and some target point cloud feature points from source point cloud and target point cloud respectively;
[0034] Step S102: extract the local depth feature, normal angle feature, point cloud density feature and local color feature of each...
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