Power transmission line tree obstacle hidden danger real-time evaluation and calculation method based on unmanned aerial vehicle

The invention relates to the technical field of image processing, in particular to a power transmission line tree obstacle hidden danger real-time evaluation and calculation method based on an unmanned aerial vehicle, and the method comprises the steps: obtaining point cloud data of a power transmission line and surrounding trees, and obtaining at least two regions of interest; respectively acquiring a first interestingness of each point cloud data in each region of interest; respectively acquiring a second interestingness of each point cloud data in each region of interest; combining the first interestingness and the second interestingness of the point cloud data to obtain the comprehensive interestingness of each point cloud data in each region of interest; obtaining the adaptive scale of each point cloud data in each region of interest in a DoN algorithm by using the comprehensive interestingness; and de-noising the point cloud data in the region of interest by using an adaptive scale to complete real-time