Workpiece three-dimensional point cloud registration method based on direction histogram signature features

The invention discloses a workpiece three-dimensional point cloud registration method based on direction histogram signature features, and belongs to the field of machine vision. The method comprisesthe steps: extracting the key points of a workpiece target point cloud through an internal signature description algorithm; adopting a direction histogram signature feature descriptor to carry out feature description extraction on the key points; randomly sampling the key points, and searching and extracting registration point pairs by combining secondary constraints, namely neighborhood constraints and distance constraints, in offline calculated template feature description; solving a rotation matrix and a translation vector by utilizing dual quaternion to realize initial registration of thepoint cloud, and realizing accurate registration of the point cloud by utilizing an iterative closest point algorithm on the basis of an initial pose provided by the initial registration. Compared with conventional registratio