The invention provides an improved density-based iterative
voxel downsampling method, and more flexible and adaptive
point cloud downsampling is realized by introducing
point cloud density information and iterative
voxel size. According to a traditional
voxel filtering method, a fixed voxel size is used, important details can not be effectively reserved in an area with large
density change, and excessive downsampling can be caused in a sparse area. According to the method, the
point cloud number of each voxel is calculated, and the voxels are dynamically segmented and subdivided according to the preset threshold value, so that more point cloud information is kept in a high-density region, redundant data is reduced in a low-density region, and the downsampling precision and the calculation efficiency are improved. Specifically, when the number of points in a voxel exceeds a set threshold value and the size of the voxel is larger than the minimum size, the
algorithm divides the voxel into eight sub-voxels, and recursive
subdivision continues until conditions are met. The method is high in adaptability, can dynamically adjust the sampling strategy according to the
density change of the point cloud, and remarkably improves the precision and efficiency of
point cloud processing. Compared with a traditional voxel filtering method, the method has the advantages that details of a dense region can be better reserved, redundant points of a sparse region are reduced, and an efficient and accurate point cloud downsampling solution is provided.