Edge detection method and device based on grid data, medium and equipment

The invention discloses a 3D disordered point cloud edge detection method and device based on a 5D texture grid data structure, equipment and a medium. The method comprises the following steps: (1) converting 3D disordered point cloud data into the 5D texture grid data structure; (2) carrying out neighborhood access: for any vertex Smn in the 5D texture grid data structure, acquiring all neighborhood points NS taking Smn as the center and having a radius of r; (3) carrying out Gaussian blur, assigning the RGB value of each vertex Smn as the RGB value weighted average of all neighborhood pointsNS corresponding to the vertex Smn; (4) obtaining a gray scale gradient gi and a gradient direction di of the 5D texture grid data structure after Gaussian blur; (5) performing non-maximum suppression on the gradient image, and outputting a numerical value Ti corresponding to Smn; and (6) searching the edge contour of the quadrangular grid M and outputting the edge contour, and converting the disordered point cloud into