Feature-preserving filtering method of scattered point cloud

The invention relates to a feature-preserving filtering method of scattered point cloud. According to the method, the kdtree is adopted to search k neighborhoods of a sampling point; the effective neighborhoods of the sampling point are judged according to the curvature difference of the sampling point and neighborhood points; under the effective neighborhoods, a filter is constructed with the tangent plane of the sampling point as a view plane; and the filter carries out de-noising on scattered point cloud data based on the area of a triangle formed by the sampling point, a neighborhood point and the projection point of the neighborhood point under the tangent plane of the sampling point, and normal feature difference. With the filtering method of the invention adopted, a point cloud model can be de-noised, and the detailed features of the model can be well preserved. 种散乱点云的保特征滤波方法，采用kdtree搜索采样点的k邻域，根据采样点与邻域点的曲率差异判断采样点的有效邻域，进而在有效邻域下，以待采样点的切平面为视平面构建滤波器。该滤波器采用采样点、邻域点及邻域点在采样点切平面的投影点构成的三角形的面积，与法向特征差异相结合作为滤波因子对散乱