The invention provides a
point cloud posture
standardization-based method for extracting the linear characteristic of
point cloud, which comprises six steps, is used for extracting the linear characteristic in disordered and three-dimensional
point cloud, can conveniently measure the relative posture of a target, and belongs to the technical field of the three-dimensional measurement and the
machine vision. The method comprises the following steps of: firstly, building a KD-
TREE structure of point cloud, so that the searching speed of the adjacent
point set of the point cloud can be improved; secondly, building the adjacent
point set of each point according to the density of the whole point cloud, obtaining the main direction of the
point set, and building a Householder
transformation matrix to adjust the posture of the point cloud; thirdly, carrying out
surface fitting on the adjacent point set to obtain two main curvature of the point based on a curved
surface equation, and selecting the main curvature with the higher absolute value as the curvature
estimation of the point; and finally, obtaining the curvature
estimation value of all point cloud, and taking the point which is larger than a given threshold value as a linear
characteristic point, so that the linear characteristic can be extracted.