Point cloud data processing method, apparatus, electronic device and computer readable storage medium

An electronic device, comprising:

• at least one processor;
• and
• a memory communicatively connected with the at least one processor;
• wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform a point cloud data processing method, wherein the point cloud data processing method comprises:
• obtaining a first feature vector of each point in first point cloud data, and determining at least one first key point in the points in the first point cloud data according to the first feature vectors of respective points;
• according to the at least one first key point and a preset first conversion parameter between second point cloud data and the first point cloud data, obtaining second key points of the second point cloud data corresponding to the first key points in the at least one first key point, as candidate matching points;
• wherein the first point cloud data and the second point cloud data are point cloud data of the same scene obtained from different viewing angles;
• according to the first point cloud data, the second point cloud data and a preset search radius, determining at least one first neighboring point of the at least one first key point and at least one second neighboring point of the candidate matching point corresponding to the at least one first key point;
• determining a matching point with which the at least one first key point is registered, according to the at least one first neighboring point of the at least one first key point and the at least one second neighboring point of the candidate matching points.

A non-transitory computer readable storage medium with computer instructions stored thereon, wherein the computer instructions are used for causing a computer to perform a point cloud data processing method, wherein the point cloud data processing method comprises:

• obtaining a first feature vector of each point in first point cloud data, and determining at least one first key point in the points in the first point cloud data according to the first feature vectors of respective points;
• according to the at least one first key point and a preset first conversion parameter between second point cloud data and the first point cloud data, obtaining second key points of the second point cloud data corresponding to the first key points in the at least one first key point, as candidate matching points;
• wherein the first point cloud data and the second point cloud data are point cloud data of the same scene obtained from different viewing angles;
• according to the first point cloud data, the second point cloud data and a preset search radius, determining at least one first neighboring point of the at least one first key point and at least one second neighboring point of the candidate matching point corresponding to the at least one first key point;
• determining a matching point with which the at least one first key point is registered, according to the at least one first neighboring point of the at least one first key point and the at least one second neighboring point of the candidate matching points.