The invention discloses a method, a device and equipment for acquiring a global initial
pose of a loading
machine and a medium. The method comprises the following steps: acquiring original
point cloud data of an operation scene in real time by using a vehicle-mounted
laser radar to generate a corresponding frame
point cloud; the method comprises the following steps: constructing a real-time
feature vector set based on a fast point feature
histogram feature of a frame
point cloud, and performing
nearest neighbor search on the real-time
feature vector set and a k-d tree index of a pre-established global point cloud map to form an initial matching
point pair set; in each round of iteration, screening a high-precision inner
point set meeting geometric constraints by adopting a self-adaptive random sampling strategy, and calculating a candidate
pose transformation matrix and a corresponding inner point proportion
score according to the high-precision inner
point set; and a new iteration round is repeatedly executed to execute the operation until the total number of iterations reaches a target value, and the global initial
pose of the target
loader is screened out from the candidate matrix according to multiple rounds of scores. According to the embodiment of the invention, high-precision global initial pose acquisition of the unmanned
loader is realized in an environment lacking
satellite coverage, and the positioning precision and reliability are improved.