Improved ICP point cloud rapid splicing method and device, electronic equipment and storage medium

The embodiment of the invention provides an improved ICP point cloud rapid splicing method and device, electronic equipment and a storage medium. The method comprises the steps of obtaining data collected by a camera; based on a Kd-Tree space index algorithm, searching the point cloud information data of the neighborhood relation of the data; sampling the color point cloud feature points in the point cloud information data by using random sampling; determining domain points in the point cloud information data by a Kd-Tree domain search method, and describing features of feature points in the domain points; and constructing a constraint function by utilizing an improved ICP algorithm to complete the splicing of the point cloud data. By utilizing the method, the iteration rate can be enhanced, and the problem that the iteration effect is influenced due to local convergence is avoided. 本申请实施例提供了一种改进的ICP点云快速拼接方法、装置、电子设备及存储介质。该方法包括：获取摄像机采集的数据；基于Kd-Tree空间索引算法，对数据进行邻域间关系的点云信息数据的查找；利用随机采样对点云信息数据中的彩色点云特征点进行采样；基于Kd-Tre