The application discloses a bidirectional dynamic constraint Euclidean-
DBSCAN point cloud clustering and segmentation method and device, which comprises the following steps: acquiring original three-dimensional point clouds around a low-speed unmanned vehicle, uniformly downsampling and filtering the original three-dimensional point clouds through a
voxel grid filter with
adaptive resolution parameters to obtain an effective detection
point cloud set; outputting a first-level rough clustering cluster set for the effective detection
point cloud set; initializing a final target point cloud cluster set for storing a final clustering result, and the initial state is an empty set; serially traversing each first-level rough clustering cluster in the first-level rough clustering cluster set, and performing bidirectional dynamic constraint decision; solving the geometric center of each point cloud cluster in the final target point cloud cluster set F by using
principal component analysis, performing multi-angle scanning calculation of the best heading angle in a preset
yaw angle search space, accurately solving the length, width and height of the directional enclosing sum, and publishing the result after coordinate
system mirror mapping conversion. The application mainly applies to the technical field of vehicles.