Method and apparatus for determining matching relationship between point cloud data

An apparatus for determining a matching relationship between point cloud data, the apparatus comprising:

• at least one processor;
• and
• a memory storing instructions, the instructions when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising:
• extracting a first characteristic associated with first point cloud data and a second characteristic associated with second point cloud data, the first point cloud data and the second point cloud data being acquired for a same object;
• performing characteristic matching between the first characteristic and the second characteristic;
• and
• determining, based on the characteristic matching, a matching relationship between the first point cloud data and the second point cloud data
• wherein the extracting the first characteristic and the second characteristic comprises:
• determining first candidate columnar point cloud data from the first point cloud data, and determining the first characteristic based on the first candidate columnar point cloud data;
• and
• determining second candidate columnar point cloud data from the second point cloud data, and determining the second characteristic based on the second candidate columnar point cloud data, the determining the first characteristic based on the first candidate columnar point cloud data comprises:
• clustering point cloud data having an angle between a main direction and a ground normal vector less than a threshold angle in the first candidate columnar point cloud data;
• and
• determining, in response to a clustering result indicating that the first candidate columnar point cloud data comprising columnar point cloud data, a center point, a normal vector, and a radius of the columnar point cloud data as a characteristic point, a normal vector and a radius of the first characteristic.

A non-transitory computer storage medium storing a computer program, the computer program when executed by one or more processors, causes the one or more processors to perform operations, the operations comprising:

• extracting a first characteristic associated with first point cloud data and a second characteristic associated with second point cloud data, the first point cloud data and the second point cloud data being acquired for a same object;
• performing characteristic matching between the first characteristic and the second characteristic;
• and
• determining, based on the characteristic matching, a matching relationship between the first point cloud data and the second point cloud data
• wherein the extracting the first characteristic and the second characteristic comprises:
• determining first candidate columnar point cloud data from the first point cloud data, and determining the first characteristic based on the first candidate columnar point cloud data;
• and
• determining second candidate columnar point cloud data from the second point cloud data, and determining the second characteristic based on the second candidate columnar point cloud data, the determining the first characteristic based on the first candidate columnar point cloud data comprises:
• clustering point cloud data having an angle between a main direction and a ground normal vector less than a threshold angle in the first candidate columnar point cloud data;
• and
• determining, in response to a clustering result indicating that the first candidate columnar point cloud data comprising columnar point cloud data, a center point, a normal vector, and a radius of the columnar point cloud data as a characteristic point, a normal vector and a radius of the first characteristic.