Point cloud matching method and device, and storage medium

Abstract

Embodiments of the present application provide a point cloud matching method and device, and a storage medium. The method can include determining a consistency matrix between a first point cloud and a second point cloud, wherein an element in the consistency matrix represents a consistency size between a corresponding relationship of two points included in a first group of points and a corresponding relationship of two points included in a second group of points; constructing a hypergraph according to the consistency matrix between the first point cloud and the second point cloud; performing graph convolution processing on the hypergraph to obtain at least two groups of initial transformation matrices; and obtaining a target transformation matrix between the first point cloud and the second point cloud according to the at least two groups of initial transformation matrices. The high-order consistency represented by the hypergraph structure is more accurate, and is more robust to abnormal points and noise. The method can provide more accurate information for identifying and registering inlier points, and is helpful for effectively registering point clouds in a low overlap rate situation.

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