Point cloud data registration method and system, electronic equipment and storage medium

The invention discloses a point cloud data registration method and system, electronic equipment and a storage medium. The method comprises the following steps: acquiring a model point cloud and a scene point cloud of a three-dimensional model of a scene; performing plane feature extraction on the model point cloud and the scene point cloud to obtain a model point cloud plane feature set and a scene point cloud plane feature set respectively; performing line feature extraction on the model point cloud and the scene point cloud according to the two feature sets to obtain a corresponding model point cloud line feature set and a scene point cloud line feature set; performing feature matching on the model point cloud and the scene point cloud based on the model point cloud plane feature set, the scene point cloud plane feature set, the model point cloud line feature set and the scene point cloud line feature set, and determining a feature matching relationship; and based on the feature matching relationship, deter