The embodiment of the invention discloses a
point cloud filtering method and device,
electronic equipment and a storage medium, and relates to the technical field of
computer vision, and the method comprises the steps: obtaining
point cloud data, dividing a
point cloud into a plurality of voxels through employing an
octree structure according to the coordinate range of the point cloud and a preset
voxel side length, calculating the
mass center of each point in each
voxel, and calculating the
mass center of each point in each
voxel; circumscribed balls are obtained through calculation with the
centroid as the center of sphere and the
diagonal length of voxels as the
diameter, points except the center of sphere in the circumscribed balls are filtered out, coordinates of the center of sphere of the circumscribed balls serve as feature values, the distance between the feature values is calculated, part of voxels are reserved according to the sampling rate and the distance, and the coordinates and the feature values of the reserved voxels are added to point
cloud data. And deleting the other part until the target sampling rate is reached, and obtaining the filtered point
cloud data. The method solves the problems that in the prior art, the inherent geometric structure of the point cloud cannot be kept unaffected, the calculation amount is large, the
processing efficiency is low, and the requirements for real-time performance and practicability are difficult to meet.