Point cloud registration rotation transformation method, point cloud registration method, point cloud registration equipment and readable storage medium

The invention discloses a point cloud registration rotation transformation method, a point cloud registration method, point cloud registration equipment and a readable storage medium, and the method comprises the following steps: selecting two points with the farthest distance from a point cloud, and recording the connection line of the two points as a characteristic axis x; projecting the point cloud to a plane taking a characteristic axis x as a normal direction to obtain a projection point cloud, selecting two farthest points in the projection point cloud, and marking a connection line of the two points as a characteristic axis y; recording normal vectors perpendicular to the characteristic axes x and y as characteristic axes z; normalizing the three characteristic axes to obtain unit characteristic vectors, and forming a rotation matrix R by the unit characteristic vectors; and performing rotation transformation on the point cloud. According to the method, the feature points do notneed to be manually obta