PCB point cloud rapid registration method

**The invention discloses a point cloud rapid registration method for a PCB, and the method comprises the steps: firstly carrying out the point cloud data compensation, and then extracting the center coordinates (xi, yi) and heights hi of K scattered components on the PCB, and taking the center coordinates (xi, yi) and heights hi as registration reference values; sequentially calculating the height difference H between every two components; for each offset (delta x, delta y), calculating the height h'of the corresponding component; calculating a height difference H'between the components corresponding to the offset; calculating a difference value delta between H and H '; and calculating the offset corresponding to the minimum difference delta, namely a registration coordinate (delta x *, delta y *), so as to realize point cloud registration. According to the invention, through point cloud data compensation, point cloud registration errors and point cloud identification errors caused by point cloud missing are