Point cloud registration method and system based on normal vector constraint correction

The invention discloses a point cloud registration method based on normal vector constraint correction, and the method comprises the steps: S1, building a point cloud topological structure based on a source point cloud and a target point cloud; s2, extracting point cloud curved surface features according to the point cloud topological structure; s3, performing constraint correction on normal vectors in the point cloud curved surface features; s4, based on the normal vector after constraint correction, calculating to obtain a point cloud registration optimization model; and S5, based on the point cloud registration optimization model, solving to obtain a relative transformation matrix of the source point cloud and the target point cloud, and carrying out point cloud registration. According to the method, on the basis of normal vector constraint correction, KD-Tree is used for accelerating searching of the nearest point, the point cloud normal vector solving and registering speed is increased ...