The invention discloses a multi-source heterogeneous
point cloud registration method based on image key points and a related device, and relates to the technical field of three-dimensional
data processing, and the method comprises the steps: extracting a ground
point cloud from target and source point clouds, determining a unit normal vector and a height mean value, correcting the source point clouds through a
rotation matrix and a
vertical translation vector, and carrying out the registration of the target and source point clouds. The method comprises the following steps of: projecting a target image and a
source image, extracting feature key points, screening through descriptor similarity and main direction consistency to obtain initial matching point pairs, calculating a pixel
motion vector field through dense
optical flow improved by a local binary pattern feature map, selecting same-name matching point pairs according to a displacement threshold value, and combining and de-weighting to obtain a potential
image matching point set. According to the method, geometric constraints are established, optimal affine transformation parameters are obtained,
point cloud corresponding coordinates are obtained through
back projection, horizontal two-dimensional
rigid transformation is solved, a coarse registration optimal
spatial transformation matrix is calculated in combination with a
rotation matrix and a
vertical translation vector, and finally multi-source heterogeneous point cloud fine registration is completed through an iterative
nearest point algorithm.