Three-dimensional point cloud registering method according to color moment information

The invention discloses a three-dimensional point cloud registering method according to color moment information. The method comprises the steps of acquiring a known template color point cloud and a to-be-registered target color point cloud, based on a preset initial registration parameter, firstly, respectively calculating a color first-order moment characteristic, a second-order moment characteristic and a third-order moment characteristic of each point in the two point clouds; secondly, designing a point cloud registered target function according to a shape-color combined characteristic inwhich the three-dimensional spatial information and the color moment information of the point cloud are combined; thirdly, according to a weighted distance measure of the combined characteristic, establishing a point-to-point correspondence between the template color point cloud and the target color point cloud; fourth, solving a spatial registering transformation parameter according to the point-to-point correspondence b