Mark point matching method and device, computer equipment and storage medium

The invention relates to a mark point matching method and device, computer equipment and a storage medium, and the method comprises the steps: selecting different mark points from a mark point set for multiple times, taking the three side lengths of a constructed triangle as the coordinate values of a three-dimensional point, carrying out the space search based on the three-dimensional point, and obtaining a matched triangle pair, point cloud splicing is realized; the three sides of the triangle are converted into three points, so that the complex triangle matching problem can be simplified in combination with a spatial search mode, and the time complexity is reduced. 本申请涉及一种标志点的匹配方法、装置、计算机设备和存储介质，通过从标志点集合中多次选取不同的标志点，并将所构建得到的三角形的三边长作为三维点的各坐标值，基于三维点进行空间搜索，从而获得相匹配的三角形对，实现点云拼接；将三角形的三条边化为三个点，从而能够结合空间搜索的方式，将复杂的三角形匹配问题简化，降低了时间复杂度。