The invention relates to the technical field of
point cloud registration, and discloses a
virtual model and real
object registration method and device, equipment and a storage medium. The method comprises the following steps: firstly, performing single-view segmentation on
virtual model point clouds, and performing
feature extraction on each single-view
point cloud obtained by segmentation to obtain a view global feature corresponding to each single-view
point cloud; and performing
feature extraction on the point cloud of the real registration object to obtain real global features. And then, based on the matching degree between the
visual angle global feature corresponding to each single
visual angle point cloud and the real global feature, determining a target
visual angle point cloud from the plurality of single visual angle point clouds. And finally, performing registration based on the target visual angle point cloud and the real registration
object point cloud, and registering the
virtual model to a real space coordinate to obtain a target virtual model. According to the method, the interference of exterior points is effectively reduced, the number of required iterations is reduced, the accuracy of a registration result is remarkably improved, and the problem that registration needs multiple iterations when the
pose of a real object is unknown is solved.