The present invention provides a two-stage sparse
laser radar point cloud feature extraction method based
on cells, which comprises: step 1: reading original three-dimensional
point cloud data; step 2: dividing a frame of
point cloud into N*S cells; step 3: marking the cells corresponding to each point cloud; step 4, traversing each
cell, and entering step 5 when the number of points in the
cell is greater than a set value; step 5, calculating the normalized mean coordinates of the
cell; step 6, constructing the
covariance matrix of the cell and solving it to obtain the eigenvalue; step 7, judging the planarity or
linearity of the cell according to the eigenvalue; step 81, the cell is judged to be planar, the
covariance of each point in the cell is calculated, the eigenvalue is obtained, and step 91 is entered; step 82, the cell is judged to be linear, the
covariance of each point in the cell is calculated, the eigenvalue is obtained, and step 92 is entered; step 91, according to the planarity of the point cloud, the plane feature points are obtained; step 92, according to the
linearity of the point cloud, the line feature points are obtained.