Tire point cloud segmentation method

The invention discloses a tire point cloud segmentation method, which comprises the following steps of: 1, recording a point cloud set containing a tire as point, and calculating curvature values Curvi corresponding to all points Pi in the set and corresponding normal vectors; 2, selecting a contact point Ptouch of the tire and the ground as an initial seed point, adding the initial seed point into a seed point set Seed, and defining a tire region set, 3, taking a seed point PS from Seed, deleting the PS from the set Seed, traversing all neighborhood points Pj in a sphere taking the seed point as the sphere center and r as the radius, j = 1, 2,..., M, adding the neighborhood points Pj meeting the region growth condition into the set tire, and adding the neighborhood points Pj meeting the seed point selection condition into the set Seed; 4, entering the circulation of the step 3 until all point clouds in the train are tire point clouds obtained by region growth at the moment; according to the invention, the to