Multi-view three-dimensional point cloud reconstruction method

The invention discloses a multi-view three-dimensional point cloud reconstruction method. The method comprises the following steps: acquiring a plurality of point cloud pictures; preprocessing the point cloud image to obtain point cloud data after outlier noise is removed; preprocessing the point cloud data after the outlier noise is removed again to obtain voxelization point cloud data; determining a point cloud normal vector according to the point cloud data from which the outlier noise is removed; constructing a local coordinate system according to the voxelization point cloud data and a point cloud normal vector; an SHOT histogram is obtained; performing coarse registration on the SHOT histogram to obtain a rigid body transformation matrix between the point clouds; and according to the rigid body transformation matrix among the point clouds, carrying out rigid body transformation on the point cloud image after the outlier noise is removed, and then carrying out fine registration to obtain a reconstructed