Point cloud registration method based on dual quaternion description under plane feature constraint

The invention discloses a dual quaternion description-based point cloud registration method under plane feature constraint. The method comprises the following steps of: selecting plane feature pairs by utilizing the invariant relative position relationship of a space plane in rigid body transformation motion; m, estimating sample consistency fitting plane features to obtain a plane equation; a registration model is constructed in a peer-to-peer mode according to the registered homonymy characteristic parameters; combining internal constraint conditions of dual quaternion, and establishing a target function according to a least square criterion; and an optimization method is selected to solve the nonlinear optimization problem of the target function, and dual quaternion parameters are obtained, so that a rotation matrix and translation parameters of spatial rigid body transformation are obtained, and point cloud registration is realized. According to the method, the problem that point cloud registration under