The invention discloses a
point cloud filtering method based on curvature entropy adaptive parameters, and belongs to the technical field of
computer vision and three-dimensional
data processing. The method comprises the following steps: firstly, for each target point in a
point cloud, calculating a curvature representing a local geometrical shape of the target point; secondly, statistical binning is carried out on curvature values of the target point and all points in the neighborhood of the target point, and a discrete local curvature probability distribution
histogram is constructed; then, the curvature entropy of the target point is calculated according to the probability distribution; thirdly, establishing a dynamic
response model between the filtering parameters and the curvature entropy, and adaptively adjusting each parameter in a filtering weight function by using the calculated curvature entropy; and finally, performing weighted filtering on the target point by adopting the adaptively adjusted filtering parameters to complete filtering
processing. According to the method, the curvature entropy based on statistical distribution is introduced to serve as a
control variable of geometric features, point-by-point self-
adaptive optimization of filtering parameters is achieved, and the protection capacity for fine features in a complex scene and the
noise suppression effect are remarkably improved.