Laser three-dimensional point cloud reconstruction method for moving target scene

The invention provides a laser three-dimensional point cloud reconstruction method for a moving target scene. The laser three-dimensional point cloud reconstruction method comprises the steps of acquisition of high-resolution and high-density point cloud data based on undersampling, point cloud preprocessing, point cloud registration and scene reconstruction and optimization. Under-sampling is adopted, and a layered scene recovery algorithm is combined to obtain a high-resolution and high-density point cloud, so that the problem that high-speed and long-distance target information cannot be obtained by a traditional laser three-dimensional detection technology can be solved; the point cloud preprocessing comprises point cloud filtering, point cloud simplification, point cloud smoothing and point normal vector estimation operation; the point cloud registration comprises three steps of rough registration, fine registration and global registration, full-view-field scene information is obtained through point clou